TY - GEN
T1 - Determining the camera to robot-body transformation from planar mirror reflections
AU - Hesch, Joel A.
AU - Mourikis, Anastasios I.
AU - Roumeliotis, Stergios I.
PY - 2008
Y1 - 2008
N2 - 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.
AB - 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.
UR - https://www.scopus.com/pages/publications/69549117271
UR - https://www.scopus.com/pages/publications/69549117271#tab=citedBy
U2 - 10.1109/IROS.2008.4651121
DO - 10.1109/IROS.2008.4651121
M3 - Conference contribution
AN - SCOPUS:69549117271
SN - 9781424420582
T3 - 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
SP - 3865
EP - 3871
BT - 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
T2 - 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
Y2 - 22 September 2008 through 26 September 2008
ER -