Publication result detail

Mutual Calibratiion of Heterogeneous Matrix Sensors

KOCMANOVÁ, P.; ŽALUD, L.

Original Title

Mutual Calibratiion of Heterogeneous Matrix Sensors

English Title

Mutual Calibratiion of Heterogeneous Matrix Sensors

Type

Paper in proceedings (conference paper)

Original Abstract

Mutual calibration of matrix sensors placed on the sensory head of Orpheus-X3 mobile robot is described in the paper. Orpheus-X3 robot forms a part of Cassandra rescue robotic system developed in Brno University of Technology. The following sensors are placed on the sensory head: stereo pair of color cameras, stereo pair of thermal imagers, and range camera. The aim of calibration is to determine the intrinsic and extrinsic parameters for all the sensors. Parameter estimation is determined from matrix of homography between image and calibration plate. Subsequently, values of parameters are refined by optimization of reprojection error.

English abstract

Mutual calibration of matrix sensors placed on the sensory head of Orpheus-X3 mobile robot is described in the paper. Orpheus-X3 robot forms a part of Cassandra rescue robotic system developed in Brno University of Technology. The following sensors are placed on the sensory head: stereo pair of color cameras, stereo pair of thermal imagers, and range camera. The aim of calibration is to determine the intrinsic and extrinsic parameters for all the sensors. Parameter estimation is determined from matrix of homography between image and calibration plate. Subsequently, values of parameters are refined by optimization of reprojection error.

Keywords

sensor, robot, data fusion

Key words in English

sensor, robot, data fusion

Authors

KOCMANOVÁ, P.; ŽALUD, L.

RIV year

2014

Released

04.11.2013

ISBN

978-80-01-05411-6

Book

Sborník studentské vědecké konference Telč 2013

Pages from

1

Pages to

6

Pages count

6

BibTex

@inproceedings{BUT104161,
  author="Petra {Kalvodová} and Luděk {Žalud}",
  title="Mutual Calibratiion of Heterogeneous Matrix Sensors",
  booktitle="Sborník studentské vědecké konference Telč 2013",
  year="2013",
  pages="1--6",
  isbn="978-80-01-05411-6"
}