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On the Issue of Camera Calibration with Narrow Angular Field of View

Strobl, Klaus and Sepp, Wolfgang and Hirzinger, Gerd (2009) On the Issue of Camera Calibration with Narrow Angular Field of View. In: Proceedings. IROS, International Conference on Intelligent Robots and Systems, 11. Okt. -15. Okt. 2009, St. Louis, USA.

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Abstract

This paper considers the issue of calibrating a camera with narrow angular field of view using standard, perspective methods in computer vision. In doing so, the significance of perspective distortion both for camera calibration and for pose estimation is revealed. Since narrow angular field of view cameras make it difficult to obtain rich images in terms of perspectivity, the accuracy of the calibration results is expectedly low. From this, we propose an alternative method that compensates for this loss by utilizing the pose readings of a robotic manipulator. It facilitates accurate pose estimation by nonlinear optimization, minimizing reprojection errors and errors in the manipulator transformations at the same time. Accurate pose estimation in turn enables accurate parametrization of a perspective camera.

Document Type:Conference or Workshop Item (Speech, Paper)
Title:On the Issue of Camera Calibration with Narrow Angular Field of View
Authors:
AuthorsInstitution or Email of Authors
Strobl, KlausKlaus.Strobl@dlr.de
Sepp, WolfgangWolfgang.Sepp@dlr.de
Hirzinger, GerdGerd.Hirzinger@dlr.de
Date:11 October 2009
Journal or Publication Title:Proceedings
Refereed publication:Yes
In ISI Web of Science:No
Status:Published
Keywords:Camera Calibration
Event Title:IROS, International Conference on Intelligent Robots and Systems
Event Location:St. Louis, USA
Event Type:international Conference
Event Dates:11. Okt. -15. Okt. 2009
Organizer:IEEE
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Space (old)
HGF - Program Themes:W SY - Technik für Raumfahrtsysteme
DLR - Research area:Space
DLR - Program:W SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):W - Weiterentwicklung Robotik - Mechatronik und Dynamik (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics > Robotic Systems
Deposited By: Gabriele Beinhofer
Deposited On:14 Jan 2010 17:07
Last Modified:12 Dec 2013 20:52

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