An Integrated Camera Parameters Calibration Approach for Robotic Monocular Vision Guidance

Abstract

A core problem in robotics is to determine the position and orientation of an industrial robot in its working environment. The basic principle of vision-based robotic positioning technology relies on optical sensors that can provide tremendous amount of data. Monocular vision guidance of the robot requires firstly computing the intrinsic and extrinsic camera parameters from a set of physical features. In this paper, a camera calibration method combining Zhang Zhengyou's calibration method and PnP solution together is introduced to establish the three dimensional position and orientation of camera. Compared with other methods, this method does not require too much experimental data, it only requires the aid of a checkerboard and a white paper with several feature points. Moreover, the obtained camera parameters have high precision that can meet the requirements of a general robot monocular vision guiding system.