Camera calibration algorithm based on stationary view
WANG Xian lun, XUE Tan
(College of Electromechanical Engineering, Qingdao University of Science and Technology, Qingdao 266042, China)

Abstract: Aiming at the problem of complex process, low efficiency and low accuracy in camera calibration, the widely used camera calibration and hand eye calibration algorithm was studied, and a new camera calibration algorithm based on stationary view that can be completed only once was proposed. This calibration algorithm was tested by MOTOMAN UP6 industrial robots in laboratory. Firstly, a chess board was holded by robot manipulator and a series of movements was completed, and in the end of each movement, one chess board picture was grabbed by the camera and the pose of the manipulator was recorded. After all movements were completed, the camera calibration was done by Zhang s algorithm and the relationship calibration between the camera and the robot base was done by the calibration algorithm base on least square method. The procedure is simple and efficient. The results indicate that this algorithm operates simply, solves quickly and precisely, and has strong practicability.

Key words: stationary view; calibration algorithm; least square method