An automatic calibration approach for a multi-camera-robot system

摘要

In this paper we present an automated and precise calibration approach to enable a vision-based robot control with a multi-camera setup. In our case we use a setup consisting of four fixed cameras above the workplace (eye-to-hand configuration) and a collaborative robot. The robot will be used to automate the intrinsic camera calibration and the necessary process of capturing images of a calibration pattern from a maximum number of different viewpoints. For the extrinsic calibration of the cameras and the calibration to the robot we use only two small markers, which are permanently attached to the base of the robot. This allows a fast online calibration of the setup. With the help of first experiments, we can show that the calibration method works well under laboratory conditions. Furthermore, we will discuss the achieved accuracy.