Software Calibration for Stereo Camera on Stereo Vision Mobile Robot using Tsai’s Method

Abstract

An improvement for image distortion in cameras has been an important issue for as long as users have wanted to reproduce or utilize observed information. In this paper, it described about mobile robot using uncalibrated cameras rig which installed on top of it to work as stereo pair. These cameras have to be calibrated by software using Tsai's method. The block matching algorithm is using Sum of Absolute Differences (SAD) to solve the correspondence problem. The image processing part is implemented in Matlab software. The result is a lot of matching points discovered using a software calibration result from Tsai's method.