校准
光场
光学
计算机视觉
摄像机自动校准
摄像机切除
人工智能
计算机科学
视野
领域(数学)
结构光
物理
数学
量子力学
纯数学
作者
Jie Wang,Siwen Ye,Shengxian Shi,T. H. New
摘要
A calibration framework is established for an unfocused light-field camera and a robotic arm. With Gaussian optics and light-field imaging principles, the mapping relationship between a point light source and its corresponding plenoptic disc feature is established, and the intrinsic and extrinsic parameters of the unfocused light-field camera are calculated through nonlinear optimization. Transformation matrices for eye-to-hand and eye-in-hand configurations are subsequently solved and are validated by applying them to an industrial light-field camera-robotic arm system. With the proposed calibration method, 3D reconstruction for calibration board in different poses is demonstrated and calibration uncertainty is discussed in detail.
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