CHEN Jian, LI Xiao ming, SU Bi da, WU Hao

 

(School of Mechanical Engineering and Automation, Zhejiang Sci tech University, Hangzhou 310018, China)

 

 

Abstract: Aiming at the problem that the calculation method of motion trajectory for mobile robot based on camera calibration, numerical simulation was carried out to study the coordinate system of the world, the camera, and the physics image,the SFM idea of 3D reconstruction, as well as the classic pinhole camera model, and the calculation method of motion trajectory of the camera calibration. Firstly, the work was conducted on the four common coordinates transformation in camera calibration and camera model. Then, the basic projective geometry, the lens distortions and the basic camera calibration were introduced. Lastly, the coordinate calculation method of motion trajectory for Mobile Robot was summarized, and tested and analyzed on OpenCV in Visual C++ environment. The calibration result was worked out by Matlab on the formula and the 3D figure of motion trajectory for Mobile Robot was presented. The results indicate that the proposed method makes use of the functions of the library effectively, improves precision of experimental result, finishes the work of the camera calibration, and obtains the coordinates of the motion trajectory for mobile robot.

 

Key words: camera calibration; mobile robot; motion trajectory; OpenCV