Foot-Eye Calibration for Mobile Robots

To establish a complete mobile robot system based on visual navigation,a footeye calibration method is proposed for mobile robots.A planar mirror with some given marker points is employed as an intermediary to calibrate the Euclidean transformations between camera coordinate frame and specular image coordinate frame,between camera coordinate frame and mirror coordinate frame,between specular image coordinate frame and mirror coordinate frame and between robot-centered coordinate frame and mirror coordinate frame.Subsequently,rigid transformation from camera coordinate frame to robot-centered coordinate frame is established,realizing the foot-eye calibration for mobile robots.Experimental results indicate that the presented method is simple and effective.Since it is free of expensive physical setup and complex procedure,it is suitable for field operating.