期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2014
卷号：11
DOI：10.5772/58471
语种：English
出版社：SAGE Publications
摘要：This paper presents the complete calibration procedure of a multi-camera system for mobile robot motion registration. Optimization-based, purely visual methods for the estimation of the relative poses of the motion registration system cameras, as well as the relative poses of the cameras and markers placed on the mobile robot were proposed. The introduced methods were applied to the calibration of the system and the quality of the obtained results was evaluated. The obtained results compare favourably with the state of the art solutions, allowing the use of the considered motion registration system for the accurate reconstruction of the mobile robot trajectory and to register new datasets suitable for the benchmarking of indoor, visual-based navigation algorithms.
关键词：Visual Navigation; Calibration; Motion Capture; Benchmarking; Multi-camera System
