Automated alignment of Robotic pan-tilt camera units using vision

International Journal of Computer Vision

Volumn 68, Issue 3, 2006, Pages 219-237

  Knight, Joss ^a   Reid, Ian ^a  

^a UNIVERSITY OF OXFORD   (United Kingdom)

Author keywords

Active vision; Alignment; Calibration

Indexed keywords

ALGORITHMS; ALIGNMENT; COMPUTER VISION; IMAGE ANALYSIS; ROBOTICS; ROBUSTNESS (CONTROL SYSTEMS);

ACTIVE VISION; ODOMETRY; PAN-TILT CAMERA PLATFORM; TWO-VIEW TRANSFORMATIONS;

CAMERAS;

EID: 33646882147     PISSN: 09205691     EISSN: 15731405     Source Type: Journal    
DOI: 10.1007/s11263-005-5032-8     Document Type: Article

References (25)

1. Armstrong, M.N. 1996. Self-calibration from Image Sequences. Ph.D. thesis, University of Oxford.
2. Beardsley, P.A. and Zisserman, A. 1995. Affine Calibration of Mobile Vehicles. In R. Mohr and W. Chengke (Eds.): Proc. Joint Europe-China Workshop on Geometrical Modelling and Invariants for Computer Vision, Xi'an, China.
3. Davison, A. 1998. Mobile robot navigation using active vision. Ph.D. thesis, Robotics Research Group, Oxford University Department of Engineering Science.
4. DeSouza, G.N., Jones, A.J., and Kak, A.C. 2002. A world independent approach for the calibration of mobile robotics active stereo heads. In Proc. IEEE Int'l Conf. on Robotics and Automation, vol. 4. Washington, pp. 3336-3341.
5. Harris, C.G. and Stephens, M. 1988. A combined corner and edge detector. In Proc. 4th Alvey Vision Conf., Manchester, pp. 147-151.
6. Hartley, R.I. and Zisserman, A. 2000. Multiple View Geometry in Computer Vision. Cambridge University Press.
7. Hayman, E., Knight, J., and Murray, D.W. 2000. Self-alignment of an active head from observations of rotation matrices. In Proc. 15th IEEE Int'l Conf. on Pattern Recognition, vol. 1. Barcelona, pp. 80-84.
8. Horaud, R. and Csurka, G. 1998. Self-calibration and euclidean reconstruction using motions of a stereo rig. In Proc. 6th Int'l Conf. on Computer Vision, Bombay, pp. 96-103.
9. Knight, J. 2002. Towards fully autonomous mobile robot navigation. Ph.D. thesis, Robotics Research Group, Oxford University Department of Engineering Science.
10. Knight, J. and Reid, I. 2000a. Active visual alignment of a mobile stereo camera platform. In Proc. IEEE Int'l Conf. on Robotics and Automation, Vol.4. San Francisco, pp. 3203-3208.
11. Knight, J. and Reid, I. 2000b. Binocular self-alignment and calibration from planar scenes. In Vernon, D. Ed.): Proc. 6th European Conference on Computer Vision, Dublin, pp. II:462-476.
12. Knight, J., Zisserman, A., and Reid, I. 2003. Linear auto-calibration for ground plane motion. In Proc. IEEE Conf. on Computer vision and Pattern Recognition, Madison, Wisconsin. 18-20 June, pp. I:503-510.
13. Li, M. 1998. Kinematic calibration of an active head-eye system. IEEE Transactions on Robotics and Automation 14(1): 153-157.
14. Ma, S.D. 1996. A self-calibration technique for active vision systems. IEEE Trans. Robotics and Automation 12(1):114-120.
15. Maybank, S.J. 1993. Theory of Reconstruction from Image Motion. Springer-Verlag Berlin:
16. McLauchlan, P.F. and Murray, D.W. 1996. Active camera calibration for a head-eye platform using the variable state-dimension filter. IEEE Transactions on Pattern Analysis and Machine Intelligence 18(1):15-21.
17. Murray, D.W., Reid, I.D., and Davison, A.J. 1996. Steering and navigation behaviours using fixation. In Proc. 7th British Machine Vision Conf., pp. Edinburgh. 635-644.
18. Murray, D.W., Reid, I.D., and Davison, A.J. 1997. Steering without representation using active fixation. Perception 26(12): 1519-1528.
19. Reid, I.D. and Beardsley, P.A. 1996. Self-alignment of a binocular head. Image and Vision Computing 14(8):635-640.
20. Sampson, P.D. 1982. Fitting conic sections to 'very scattered' data: An iterative refinement of the Bookstein algorithm. Computer Vision, Graphics, and Image Processing 18:97-108.
21. Sharkey, P.M., Murray, D.W., Vandevelde, S., Reid, I.D., and McLauchlan, P.F. 1993. A modular head/eye platform for real-time reactive vision. Mechatronics 3(4):517-535.
22. Tordoff, B. and Murray, D.W. 2000. Violating rotating camera geometry: The effect of radial distortion on self-calibration. In Proc. 15th IEEE Int'l Conf. on Pattern Recognition, vol. 1. Barcelona, pp. 423-427.
23. Torr, P.H.S. and Zisserman, A. 2000. MLESAC: A new robust estimator with application to estimating image geometry. Computer Vision and Image Understanding 78(1), 138-156.
24. Viéville, T. and Lingrand, D. 1996. Using singular displacements for uncalibrated monocular vision systems. In Proc. 4th European Conf. on Computer Vision, Cambridge, pp. II:207-216.
25. Zisserman, A., Beardsley, P.A., and Reid, I.D. 1995. Metric Calibration of a stereo rig. In Proc. IEEE Workshop on Representations of Visual Scenes, in conjunction with ICCV'95, Cambridge, MA. pp. 93-100.