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http://dx.doi.org/10.5302/J.ICROS.2015.15.0011

Precise Detection of Coplanar Checkerboard Corner Points for Stereo Camera Calibration Using a Single Frame  

Park, Jeong-Min (Department of Industrial Engineering, Chonnam National University)
Lee, Jong-In (Hyundai Mobis)
Cho, Joon-Bum (Hyundai Mobis)
Lee, Joon-Woong (Department of Industrial Engineering, Chonnam National University)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.21, no.7, 2015 , pp. 602-608 More about this Journal
Abstract
This paper proposes an algorithm for precise detection of corner points on a coplanar checkerboard in order to perform stereo camera calibration using a single frame. Considering the conditions of automobile production lines where a stereo camera is attached to the windshield of a vehicle, this research focuses on a coplanar calibration methodology. To obtain the accurate values of the stereo camera parameters using the calibration methodology, precise localization of a large number of feature points on a calibration target image should be ensured. To realize this demand, the idea with respect to a checkerboard pattern design and the use of a Homography matrix are provided. The calibration result obtained by the proposed method is also verified by comparing the depth information from stereo matching and a laser scanner.
Keywords
camera calibration; corner point detection; coplanar calibration; homography;
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