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Self-alignment of an active head from observations of rotation matrices

Abstract:

In this paper we will show how rotation matrices obtained from image measurements, for instance via self-calibration of rotating cameras, may be used to self-align an active stereo head such that the optic axes of the cameras are parallel, horizontal and perpendicular to the elevation axis. Whereas general rotation matrices have three degrees of freedom, with robot heads we may generate motions with fewer degrees of freedom, and use prior knowledge of the kinematic chain to constrain the rota...

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Publication status:
Published

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Institution:
University of Oxford
Department:
Oxford, MPLS, Engineering Science
Role:
Author
Volume:
15
Issue:
1
Pages:
80-84
Publication date:
2000-01-01
ISSN:
1051-4651
URN:
uuid:b1717219-1371-4ab1-9a01-758fb2fc9e06
Source identifiers:
62919
Local pid:
pubs:62919
ISBN:
0-7695-0751-4

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