Kategorie: ‘OpenCV’
Camera calibration in SHAREWORK – part 2
In october last jear we already showed how to calibrate a camera network. With the calibration target at that time, a calibration accuracy in the sub-pixel range could already be generated. However, at the high distances of about 8 meters and at a resolution of “only” 4MP, this is still several millimeters of deviation in the real world. For our final tests, we reached into the bag of tricks again and got ourselves a larger calibration target. Now, however, the maneuverability is no longer so simple. How such a calibration process looks like with a target of more than 3 square meters, you can see in the video.
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Camera calibration in SHAREWORK
In the EU project SHAREWORK we develop a framework for industry that allows human-robot collaboration even with heavy industrial robots. We are developing camera-based methods for localizing objects in the workspace and deriving process states from them, which in turn can be further used in task planning algorithms.
For the camera network, we set up and calibrated four Stereolabs ZED stereo cameras in our hall. Random, checkerboard, Aruco, as well as ChAruco patterns were used for the calibration. In the end, we have managed to calibrate the cameras to sub-pixel accuracy. In the video, you can see some data from our calibration sets. Currently the data is being processed and we hope to show more in a few weeks.
Watch this video on YouTube: https://youtu.be/8goCBVKaKtU
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Project page:
https://www.igmr.rwth-aachen.de/index.php/de/rob/rob-sharework
Contact person:
