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Publication detail
KOCMANOVÁ, P. ŽALUD, L.
Original Title
Mutual Calibratiion of Heterogeneous Matrix Sensors
Type
conference paper
Language
English
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.
Keywords
sensor, robot, data fusion
Authors
KOCMANOVÁ, P.; ŽALUD, L.
RIV year
2013
Released
4. 11. 2013
ISBN
978-80-01-05411-6
Book
Sborník studentské vědecké konference Telč 2013
Pages from
1
Pages to
6
Pages count
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" }