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An Empirical Review of Calibration Techniques for the Pepper Humanoid Robot's RGB and Depth Camera
Umeå University, Faculty of Science and Technology, Department of Computing Science. (Intelligent Robotics)
Umeå University, Faculty of Science and Technology, Department of Computing Science. (Intelligent Robotics)
Umeå University, Faculty of Science and Technology, Department of Computing Science.
2019 (English)In: Springer series, 2019Conference paper, Oral presentation only (Refereed)
Abstract [en]

This paper presents a comparative study of different calibration techniques to align the Pepper Humanoid Robot’s depth camera with respect to its RGB camera. Both cameras are placed at different locations and have different viewpoints and view angles. We kept the image resolution same for both cameras to avoid scaling issues and tried to retrieve the translation and rotation coefficients. We used an in-house dataset for conducting experiments. The dataset consists of both RGB and Depth images of single and multiple objects placed on the table. We used homography, fundamental matrix, and proposed translation estimation technique to fix the alignment issues. Root mean square error and error variance are used as a measurement to evaluate the efficacy of the system.

Place, publisher, year, edition, pages
2019.
Keywords [en]
RGB-D Camera Calibration, Pepper Humanoid Robot
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
Research subject
computer and systems sciences
Identifiers
URN: urn:nbn:se:umu:diva-157729OAI: oai:DiVA.org:umu-157729DiVA, id: diva2:1301517
Conference
Intelligent Systems Conference (IntelliSys) 2019
Available from: 2019-04-02 Created: 2019-04-02 Last updated: 2019-04-04

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CiteExportLink to record
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Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
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  • de-DE
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Output format
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  • asciidoc
  • rtf