Determining the camera to robot-body transformation from planar mirror reflections

Joel A. Hesch, Anastasios I. Mourikis, Stergios I. Roumeliotis

Research output: Chapter in Book/Report/Conference proceedingConference contribution

14 Scopus citations

Abstract

This paper presents a method for estimating the six-degrees-of-freedom transformation between a camera and the body of the robot on which it is rigidly attached. The robot maneuvers in front of a planar mirror, allowing the camera to observe fiducial features on the robot from several vantage points. Exploiting these measurements, we form a maximum-likelihood estimate of the camera-to-body transformation, without assuming prior knowledge of the robot motion or of the mirror configuration. Additionally, we estimate the mirror configuration with respect to the camera for each image. We validate the accuracy and correctness of our method with simulations and real-world experiments.

Original languageEnglish (US)
Title of host publication2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
Pages3865-3871
Number of pages7
DOIs
StatePublished - Dec 1 2008
Event2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS - Nice, France
Duration: Sep 22 2008Sep 26 2008

Publication series

Name2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

Other

Other2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
Country/TerritoryFrance
CityNice
Period9/22/089/26/08

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