Browsing by Author "Gurel, Cahit"
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Item A NEW APPROACH FOR SELF-CALIBRATING CAMERAS(2022-02-16) Gurel, Cahit; TORA, Hakan; GÜNEŞ, AhmetCamera is one of the most important sensors in robotic applications. Calibrated ca meras provide more information than the uncalibrated ones. Intrinsic parameters of a camera can deteriorate due to mechanical and thermal changes in environment. There fore self-calibration is required for robotic operations. Since self-calibration does not require any known template objects in the process, it is more flexible and extract ing a few fixed points between calibration images is enough for self-calibration. We propose a new method for simpler and more accurate self-calibration method by in corporating some of the extrinsic parameters of camera along with some assumptions which are true for present day cameras. Moreover, we have included a basic point de tection, tracking and association approach for the task. Proposed method is tested and compared with another self calibration method using synthetic data, a mobile robot with a camera in V-REP simulation environment and physical implementation with articulated robot arm. The results indicate the effectiveness of the new approach with respect to other self-calibration approaches for planer motion of the camera.