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The General Analysis of an Active Stereo Vision with Hand-Eye Calibration  

김진대 (영남대학교 대학원 기계공학과)
이재원 (영남대학교 기계공학)
신찬배 (울산 과학대학 디지털 기계학부)
Publication Information
Journal of the Korean Society for Precision Engineering / v.21, no.5, 2004 , pp. 89-90 More about this Journal
Abstract
The analysis of relative pose(position and rotation) between stereo cameras is very important to determine the solution that provides three-dimensional information for an arbitrary moving target with respect to robot-end. In the space of free camera-model, the rotational parameters act on non-linear factors acquiring a kinematical solution. In this paper the general solution of active stereo that gives a three-dimensional pose of moving object is presented. The focus is to achieve a derivation of linear equation between a robot's end and active stereo cameras. The equation is consistently derived from the vector of quaternion space. The calibration of cameras is also derived in this space. Computer simulation and the results of error-sensitivity demonstrate the successful operation of the solution. The suggested solution can also be applied to the more complex real time tracking and quite general and are applicable in various stereo fields.
Keywords
Free-Camera Model; Non-Linear Factor; Kinematical Solution; Quaternion-Space; Error-Sensitivity;
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Times Cited By KSCI : 1  (Citation Analysis)
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