Calibration of an active binocular head

— In this paper, we show how an active binocular head, the IIS head, can be easily calibrated with very high accuracy. Our calibration method can also be applied to many other binocular heads. In addition to the proposal and demonstration of a four-stage calibration process, there are three major contributions in this paper. First, we propose a motorized-focus lens (MFL) camera model which assumes constant nominal extrinsic parameters. The advantage of having constant extrinsic parameters is to having a simple head/eye relation. Second, a calibration method for the MFL camera model is proposed in this paper, which separates estimation of the image center and effective focal length from estimation of the camera orientation and position. This separation has been proved to be crucial; otherwise, estimates of camera parameters would be very noisesensitive. Thirdly, we show that, once the parameters of the MFL camera model is calibrated, a nonlinear recursive leastsquare estimator can be ...

• Type: Journal
• Year: 1998
• Where: TSMC
• Authors: Sheng-Wen Shih, Yi-Ping Hung, Wei-Song Lin
• Keywords: Binocular Heads, Calibration Method, MFL Camera Model, TSMC 1998