Active camera calibration for a head-eye platform using the variable state-dimension filter

IEEE Transactions on Pattern Analysis and Machine Intelligence

Volumn 18, Issue 1, 1996, Pages 15-22

  McLauchlan, Philip F ^a   Murray, David W ^a  

^a UNIVERSITY OF OXFORD   (United Kingdom)

Author keywords

Camera calibration, active vision, real time vision, recursive filter

Indexed keywords

ALGORITHMS; CALIBRATION; COMPUTER VISION; DIGITAL FILTERS; ERRORS; OBJECT RECOGNITION; PARAMETER ESTIMATION; REAL TIME SYSTEMS; TRANSPUTERS;

ACTIVE CAMERA CALIBRATION; CAMERA FOCAL LENGTH; REAL TIME ACTIVE VISION SYSTEM; RECURSIVE FILTER; TRACKED CORNER FEATURES; VARIABLE STATE DIMENSION FILTER;

CAMERAS;

EID: 0029759777     PISSN: 01628828     EISSN: None     Source Type: Journal    
DOI: 10.1109/34.476007     Document Type: Article

References (25)

1. M. Armstrong, A. Zisserman, and P.A. Beardsley, "Euclidean structure from uncalibrated images," E. Hancock, ed., Pmc. Fifth British Machine Vision CowJ. York, England: BMVA Press, pp. 509518,1994.
2. Y. Bar-Shalom and T.E. Fortmann, Tracking and Data Association, Academic Press," 1988.
3. P.A. Beardsley, Applications of Projcctive Geometry to Robot Vision, PdD thesis, Univ. of Oxford, 1992.
4. R.A. Brooks, A.N. Flynn, and T. Marill, "Self calibration of motion and stereo vision for mobile robots," I'roc. t-'ourth Int'l Symp. Robotics Research, 1987.
5. R. Cipolla and A. Zisserman, "Qualitative surfac+e shape from deformation of image curves," Int'l ]. Computer Vision, vol. 8, no. 1, pp. 53-69,1992.
6. F. Du and M. Brady, "Self-calibration of the intrinsic parameters of camera for active vision systems," Proc. IEEE Conf. Computer Vision and Pattern Recognition, 1993.
7. O.D. Faugeras, "What can be seen in three dimensions with an uncalibrated stereo rig?" Proc. Second European Conf. Computer Vision, G. Sandini, ed., Santa Margharita Ligure, Italy, SpringerVerlag, pp. 563-578,1992.
8. O.D. Faugeras and G. Toscani, "The calibration problem for stereo," Proc. IEEE Conf. Computer Vision and Pattern Recognition, pp. 15-20,1986.
9. C. Harris and J.M. Pike, "3D positional integration from image sequences," Proc. Third Alvey Vision Conf., Cambridge, England, pp. 233-236,1987.
10. R.I. Hartley, "Self-calibration from multiple views with a rotating camera," Proc. Third European Conf. Computer Vision, vol. 1, pp. 471-478,1994.
11. S.D. Hippisley-Cox and J. Porriil, "Auto-calibration-Kruppa's equations and the intrinsic parameters of a camera," Proc. Fifth British Machine Vision Conf., E. Hancock, ed. York, England: BMVA Press, pp. 771-779,. 1994.
12. J.J. Koenderink and AJ. van Doom, "Affine structure from motion," J. Optical Soc. Am., vol. 8, no. 2, pp. 377-385,1991.
13. R.K. Lenz and R.Y. Tsai, "Techniques for calibration of the scale factor and image center for high accuracy 3D machine vision metrology," IEEE Trans. Pattern Analysis and Machine Intelligence, vol. 10, no. 5, pp. 713-720, Sept. 1988.
14. S.J. Maybank and O. Faugeras, "A theory of self-calibration of a moving camera," Int'l ]. of Computer Vision, vol. 8, no. 2, pp. 123151,1992.
15. P.S. Maybeck, Stochastic Models, Estimation, and Control, vol. I," Academic Press, 1979.
16. P.F. McLauchlan, I.D. Reid, and D.W. Murray, "Recursive affine structure and motion from image sequences," Proc. Third European Con}. Computer Vision, vol. 1, pp. 217-224, May 1994.
17. D.W. Murray, K.J. Bradshaw, P.F. McLauchlan, I.D. Reid, and P.M. Sharkey, "Driving saccade to pursuit using image motion," Int'l ]. Computer Vision, vol. 16, no. 3, pp. 205-338,1995.
18. D.W. Murray, P.F. McLauchlan, I.D. Reid, and P.M. Sharkey, "Reactions to peripheral image motion using a head/eye platform," Proc. Fourth Int'l Conf Computer Vision, pp. 403-411. Los Alamitos, Calif.: IEEE CS Press, 1993.
19. S.B. Pollard, T.P. Pridmore, J. Porriil, J.E.W. Mayhew, and J.P. Frisby, "Geometrical modeling from multiple stereo views," Int'l ]. Robotics Research, vol. 8, no. 4, pp. 3-32,1989.
20. I.D. Reid and D.W. Murray, "Active tracking of foveated feature clusters using affine structure," to appear in early 1996 in Int'l J. Computer Vision.
21. C.A. Rothwell, A. Zisserman, D.A. Forsyth, and J.L. Mundy, "Using projertive invariants for constant time library indexing in modelbased vision," Proc. Second British Machine Vision Conf., Glasgow, Scotland, 1991.
22. P.M. Sharkey, D.W. Murray, S. Vandevelde, I.D. Reid, and P.F. McLauchlan, "A modular head/eye platform for real-time reactive vision," Mechatronics, vol. 3, no. 4, pp. 517-535,1993.
23. N.A. Thacker and P. Courtney, "Online calibration of a 4 DOF stereo head," Proc. Third Kritish Machine Vision Conf., SpringerVerlag, Sept. 1992.
24. H.P. Trivedi, "Estimation of stereo and motion parameters using a variational principle," Image and Vision Computing, vol. 5, no. 2, pp. 181-183, May 1987.
25. H. Wang and J.M. Brady, "Corner detection for 3D vision using array processors," Proc. BARNA1MAGE 91, Barcelona, Spain, Springer-Verlag, 1991.