Stereo Camera Head-Eye Calibration Based on Minimum Variance Approach Using Surface Normal Vectors

@inproceedings{Lee2018StereoCH,
  title={Stereo Camera Head-Eye Calibration Based on Minimum Variance Approach Using Surface Normal Vectors},
  author={Joong-Jae Lee and Mun-Ho Jeong},
  booktitle={Sensors},
  year={2018}
}
This paper presents a stereo camera-based head-eye calibration method that aims to find the globally optimal transformation between a robot's head and its eye. This method is highly intuitive and simple, so it can be used in a vision system for humanoid robots without any complex procedures. To achieve this, we introduce an extended minimum variance approach for head-eye calibration using surface normal vectors instead of 3D point sets. The presented method considers both positional and… CONTINUE READING

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