Rectification Y-Coordinate of Epipolar Geometry in Calibration of Binocular Eye System

• Main Authors: Abdullah, SC (Author), Ma'arof, MIN (Author), Rashid, H (Author), Yusof, Y (Author)
• Format: Article
• Language: English
• Published: 2015
• Subjects: Binocular eye system; calibration; disparity maps; epipolar geometry; rectification
• Online Access: View Fulltext in Publisher

 This paper present a modest calibration method for binocular eye system use in humanoid robot vision. The method focuses on rectification Y-coordinate of epipolar geometry to correct an image seen at the left eye is exactly same as seen at the right eye. A set of stereo camera is install on the custom mount of tripod in order to represent a prototype robot vision system. Furthermore 2D pattern chessboard was selected as object in this calibration test. The calibration process starts with capturing the images of the chessboard pattern by posing the chessboard at different angle in front of the cameras. In addition a new program algorithm is developed to correct the distort geometry and execute the rectification process. Finally this paper present the calibration result called disparity map which is presenting both of images pixel positions of the undistorted and the rectified image of the chessboard. (c) 2015 The Authors. Published by Elsevier B.V.