Effective Calibration and Evaluation of Multi-Camera Robotic Head

Abstract

The paper deals with appropriate calibration of multispectral vision systems and evaluation of the calibration and data-fusion quality in real-world indoor and outdoor conditions. Checkerboard calibration pattern developed by our team for multispectral calibration of intrinsic and extrinsic parameters is described in detail. The circular object for multispectral fusion evaluation is described as well. The objects were used by our team for calibration and evaluation of advanced visual system of Orpheus-X3 robot that is taken as a demonstrator, but their use is much wider, and authors suggest to use them as testbed for visual measurement systems of mobile robots. To make the calibration easy and straightforward, the authors developed MultiSensCalib program in Matlab, containing all the described techniques. The software is provided as publicly available, including source code and testing images.