Automatic Wheels and Camera Calibration for Monocular and Differential Mobile Robots

Adaptive Visual Obstacle Detection for Mobile Robots Using Monocular Camera and Ultrasonic Sensor

This paper presents a novel vision based obstacle detection algorithm that is adapted from a powerful background subtraction algorithm: ViBe (VIsual Background Extractor). We describe an adaptive obstacle detection method using monocular color vision and an ultrasonic distance sensor. Our approach assumes an obstacle free region in front of the robot in the initial frame. However, the method dy...

Robust Stabilization for Uncertain Nonholonomic Dynamic Mobile Robots with Monocular Camera

ABSTRACT In this paper, a new kind of smooth time-varying controller was proposed for the robust stabilization problem of nonholonomic kinematics mobile robots with uncertain camera parameters based on visual feedback. And a torque controller was also designed by using the method of computed-torque for the dynamic model associated with uncertain disturbances. This torque controller can let the ...

Application of a monocular camera as a motion sensor for mobile robots

Reliable Automatic Camera-Laser Calibration

Camera-laser calibration is necessary for many robotics and computer vision applications. However, existing calibration toolboxes still require laborious effort from the operator in order to achieve reliable and accurate results. This paper proposes algorithms that augment two existing trustful calibration methods with an automatic extraction of the calibration object from the sensor data. The ...

Automatic Camera Calibration for Traffic Understanding

This paper proposes a method for fully automatic calibration of traffic surveillance cameras. Our method allows for calibration of the camera – including scale – without any user input, only from several minutes of input surveillance video. The targeted applications include speed measurement, measurement of vehicle dimensions, vehicle classification, etc. The first step of our approach is camer...