TY - GEN
T1 - Mirror-based extrinsic camera calibration
AU - Hesch, Joel A.
AU - Mourikis, Anastasios I.
AU - Roumeliotis, Stergios I.
PY - 2010
Y1 - 2010
N2 - This paper presents a method for determining the six degree-of-freedom transformation between a camera and a base frame of interest. A planar mirror is maneuvered so as to allow the camera to observe the environment from several viewing angles. Points, whose coordinates in the base frame are known, are observed by the camera via their reflections in the mirror. Exploiting these measurements, we determine the camera-to-base transformation analytically, without assuming prior knowledge of the mirror motion or placement with respect to the camera. The computed solution is refined using a maximum-likelihood estimator, to obtain high-accuracy estimates of the camera-to-base transformation and the mirror configuration for each image.We validate the accuracy and correctness of our method with simulations and real-world experiments.
AB - This paper presents a method for determining the six degree-of-freedom transformation between a camera and a base frame of interest. A planar mirror is maneuvered so as to allow the camera to observe the environment from several viewing angles. Points, whose coordinates in the base frame are known, are observed by the camera via their reflections in the mirror. Exploiting these measurements, we determine the camera-to-base transformation analytically, without assuming prior knowledge of the mirror motion or placement with respect to the camera. The computed solution is refined using a maximum-likelihood estimator, to obtain high-accuracy estimates of the camera-to-base transformation and the mirror configuration for each image.We validate the accuracy and correctness of our method with simulations and real-world experiments.
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U2 - 10.1007/978-3-642-00312-7_18
DO - 10.1007/978-3-642-00312-7_18
M3 - Conference contribution
AN - SCOPUS:77949819406
SN - 9783642003110
T3 - Springer Tracts in Advanced Robotics
SP - 285
EP - 299
BT - Algorithmic Foundations of Robotics VIII - Selected Contributions of the Eighth International Workshop on the Algorithmic Foundations of Robotics
T2 - 8th International Workshop on the Algorithmic Foundations of Robotics, WAFR
Y2 - 7 December 2008 through 9 December 2008
ER -