Fast Calibration Methold Applied in Global Vision System of Soccer Robot
The global vision system of soccer robots can provide robot posture information for strategy system,which will plan moving path and action for robots.According to match rules,vision system must be installed and tested in field,which requires a fast calibration process with higher precision.For special application in global vision system of soccer robots,a fast and effective calibra-tion algorithm was proposed based on two-stage simplified calibration model.The approximate Euler rotating matrix was used to build the camera calibration model with the intrinsic and extrinsic parameters to be achieved,and the solving process of parameters was de-rived according to the calibration model.Some mark points on the field were used as reference targets to obtain the initial value of pa-rameters step by step,and the L-M method was adopted to optimize all the parameters step by step.Compared with other calibration methods from two aspects of calibration error and robot movement realization,the proposed algorithm verified the high calibration precision by experiments,respectively.Experimental results show that this algorithm easily and effectively realizes the calibration precision of 1 mm without special reference target,which can completely meet the requirement of control precision for the strategy system,and it is simple and easy for the calibration process to implement.
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