2A1-P06 移動ロボットによるカメラネットワークの自動キャリブレーション : 知能化空間における地図情報による性能向上

Abstract

Pre-calibration of camera network system consisting of distributed camera sensors (i.e., determining the absolute poses of each camera) is an essential task to construct an intelligent space. This research deals with automatic calibration method of external parameters of distributed cameras by utilizing easily obtainable grid map information of the environment as prior information. The map information help seek a global minimum solution (i.e., camera parameters) within the objective function containing many local minimums. We evaluate the proposed method with a mobile robot in a wireless camera network.