In this paper we consider a mobile platform performing partial hand-eye calibration and Simultaneous Localisation and Mapping (SLAM) using images of the floor along with the assumptions of planar motion and constant internal camera parameters. The method used is based on a direct parametrisation of the camera motion, combined with an iterative scheme for determining the motion parameters from inter-image homographies. Experiments are carried out on both real and synthetic data. For the real data, the estimates obtained are compared to measurements by an industrial robot, which serve as ground truth. The results demonstrate that our method produces consistent estimates of the camera position and orientation. We also make some remarks about patterns of motion for which the method fails.


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    Title :

    Planar Motion and Hand-Eye Calibration Using Inter-Image Homographies from a Planar Scene



    Publication date :

    2013-01-01



    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629



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