Kinematic Calibration of
the KTH Head-Eye System
Mengxiang Li, Demetrios Betsis and Jean-Marc Lavest
Abstract
In this paper, we develop algorithms and techniques for kinematic
calibration of a head-eye system, which consists of a pair of stereo
cameras mounted a head. The aim of the calibration is to establish
relationships between the 3D head (neck) system and the two camera
(eye) systems, as well as the relationship between the head system
and a 3D world reference system as a continuous function of the
position parameters of the system. We formulate the problem
and prove the necessary and sufficient conditions
for it being nadaable andCVAP/ provide closed-form solutions. We also
solve the problem as a nonlinear optimization problem. For comparison
we also implemented some algorithms by other researchers.
Testing and comparison among all the algorithms implemented
are made on both simulated and real data and results
are presented here.
Full paper:
(PostScript 360kb)
Mengxiang Li
<mxli@bion.kth.se>