Photogrammetric Multi-Camera Calibration Using An Industrial Programmable Robotic Arm

Laura Goncalves Ribeiro; Ahmed Durmush; Olli J. Suominen; Atanas Gotchev

doi:10.1109/ispa.2019.8868928

Photogrammetric Multi-Camera Calibration Using An Industrial Programmable Robotic Arm

Laura Goncalves Ribeiro
, Ahmed Durmush
, Olli J. Suominen
, Atanas Gotchev

Not published at VTT

Tampere University

Research output: Chapter in Book/Report/Conference proceeding › Conference article in proceedings › Scientific › peer-review

1 Citation (Scopus)

Abstract

Calibration of multiple cameras is a critical step in most vision enhancement systems. Target-based calibration approaches are known to provide accurate and stable results. However, they require manually performed capture procedures. This paper presents a generalization of a widely used single-camera target-based calibration algorithm to the case of n cameras. In order to obtain fully repeatable results, we propose the elimination of the manual capture step using a programmable robotic arm. Furthermore, we investigate the use of the position feedback provided by the robot. This is done specifically for the case of calibrating cameras without assumptions on their positions and overlapping of their fields of view. Results show that automatically captured images provide more accurate calibration results than the classical approach. Additionally, calibration of fully non-overlapping setups is made possible through our approach.

Original language	English
Title of host publication	2019 11th International Symposium on Image and Signal Processing and Analysis (ISPA)
Editors	Sven Loncaric, Robert Bregovic, Marco Carli, Marko Subasic
Publisher	IEEE Institute of Electrical and Electronic Engineers
Pages	288-294
ISBN (Electronic)	978-1-72813-140-5
DOIs	https://doi.org/10.1109/ispa.2019.8868928
Publication status	Published - Sept 2019
MoE publication type	A4 Article in a conference publication

Funding

The work in this paper was funded by the European Union’s Horizon 2020 research and innovation program under the Marie Sklodowska Curie grant agreement No 764951, Immersive Visual Technologies for Safety-Critical Applications. The research infrastructure of Centre for Immersive Visual Technologies (CIVIT) at Tampere University provided the sensors and the laboratory space for conducting the experiments. The work in this paper was funded by the European Union’s Horizon 2020 research and innovation program under the Marie Sklodowska Curie grant agreement No 764951, Immersive Visual Technologies for Safety-Critical Applications.

Keywords

Calibration
Light-Field Capture
Mobile Work Machines
Multi-Camera
Photogrammetric Calibration

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10.1109/ispa.2019.8868928

Cite this

Goncalves Ribeiro, L., Durmush, A., Suominen, O. J., & Gotchev, A. (2019). Photogrammetric Multi-Camera Calibration Using An Industrial Programmable Robotic Arm. In S. Loncaric, R. Bregovic, M. Carli, & M. Subasic (Eds.), 2019 11th International Symposium on Image and Signal Processing and Analysis (ISPA) (pp. 288-294). Article 8868928 IEEE Institute of Electrical and Electronic Engineers. https://doi.org/10.1109/ispa.2019.8868928

Goncalves Ribeiro, Laura ; Durmush, Ahmed ; Suominen, Olli J. et al. / Photogrammetric Multi-Camera Calibration Using An Industrial Programmable Robotic Arm. 2019 11th International Symposium on Image and Signal Processing and Analysis (ISPA). editor / Sven Loncaric ; Robert Bregovic ; Marco Carli ; Marko Subasic. IEEE Institute of Electrical and Electronic Engineers, 2019. pp. 288-294

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title = "Photogrammetric Multi-Camera Calibration Using An Industrial Programmable Robotic Arm",

abstract = "Calibration of multiple cameras is a critical step in most vision enhancement systems. Target-based calibration approaches are known to provide accurate and stable results. However, they require manually performed capture procedures. This paper presents a generalization of a widely used single-camera target-based calibration algorithm to the case of n cameras. In order to obtain fully repeatable results, we propose the elimination of the manual capture step using a programmable robotic arm. Furthermore, we investigate the use of the position feedback provided by the robot. This is done specifically for the case of calibrating cameras without assumptions on their positions and overlapping of their fields of view. Results show that automatically captured images provide more accurate calibration results than the classical approach. Additionally, calibration of fully non-overlapping setups is made possible through our approach.",

keywords = "Calibration, Light-Field Capture, Mobile Work Machines, Multi-Camera, Photogrammetric Calibration",

author = "\{Goncalves Ribeiro\}, Laura and Ahmed Durmush and Suominen, \{Olli J.\} and Atanas Gotchev",

year = "2019",

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language = "English",

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editor = "Sven Loncaric and Robert Bregovic and Marco Carli and Marko Subasic",

booktitle = "2019 11th International Symposium on Image and Signal Processing and Analysis (ISPA)",

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address = "United States",

}

Goncalves Ribeiro, L, Durmush, A, Suominen, OJ & Gotchev, A 2019, Photogrammetric Multi-Camera Calibration Using An Industrial Programmable Robotic Arm. in S Loncaric, R Bregovic, M Carli & M Subasic (eds), 2019 11th International Symposium on Image and Signal Processing and Analysis (ISPA)., 8868928, IEEE Institute of Electrical and Electronic Engineers, pp. 288-294. https://doi.org/10.1109/ispa.2019.8868928

Photogrammetric Multi-Camera Calibration Using An Industrial Programmable Robotic Arm. / Goncalves Ribeiro, Laura; Durmush, Ahmed; Suominen, Olli J. et al.
2019 11th International Symposium on Image and Signal Processing and Analysis (ISPA). ed. / Sven Loncaric; Robert Bregovic; Marco Carli; Marko Subasic. IEEE Institute of Electrical and Electronic Engineers, 2019. p. 288-294 8868928.

Research output: Chapter in Book/Report/Conference proceeding › Conference article in proceedings › Scientific › peer-review

TY - GEN

T1 - Photogrammetric Multi-Camera Calibration Using An Industrial Programmable Robotic Arm

AU - Goncalves Ribeiro, Laura

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AU - Suominen, Olli J.

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AB - Calibration of multiple cameras is a critical step in most vision enhancement systems. Target-based calibration approaches are known to provide accurate and stable results. However, they require manually performed capture procedures. This paper presents a generalization of a widely used single-camera target-based calibration algorithm to the case of n cameras. In order to obtain fully repeatable results, we propose the elimination of the manual capture step using a programmable robotic arm. Furthermore, we investigate the use of the position feedback provided by the robot. This is done specifically for the case of calibrating cameras without assumptions on their positions and overlapping of their fields of view. Results show that automatically captured images provide more accurate calibration results than the classical approach. Additionally, calibration of fully non-overlapping setups is made possible through our approach.

KW - Calibration

KW - Light-Field Capture

KW - Mobile Work Machines

KW - Multi-Camera

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M3 - Conference article in proceedings

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Goncalves Ribeiro L, Durmush A, Suominen OJ, Gotchev A. Photogrammetric Multi-Camera Calibration Using An Industrial Programmable Robotic Arm. In Loncaric S, Bregovic R, Carli M, Subasic M, editors, 2019 11th International Symposium on Image and Signal Processing and Analysis (ISPA). IEEE Institute of Electrical and Electronic Engineers. 2019. p. 288-294. 8868928 doi: 10.1109/ispa.2019.8868928

Photogrammetric Multi-Camera Calibration Using An Industrial Programmable Robotic Arm

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