A calibration technique for the stereo camera system with the laser illumination

Abstract

Applications of computer vision techniques assume an image acquisition from one or another sensing system. This system should be calibrated before the usage to obtain proper results. In this paper a calibration technique for the stereo camera system with the laser illumination is proposed. Modern approaches to the calibration of the different sensing systems are indicated. The characteristics of the specific system required a calibration are described. The main calibration tasks and subtasks for the given system and also the main stages of the proposed technique are highlighted. The need to rotate the laser illumination relative to the axis between the cameras through 8 degrees is proven. An approach to the calibration of the illumination laser beam directions is developed. The accounting of the parameters which can be obtained as an issue of the complex calibration of the stereo camera system with the laser illumination makes it possible to improve the results of the analyzed system utilization for mobile robots.