81 research outputs found
On the Calibration of Active Binocular and RGBD Vision Systems for Dual-Arm Robots
This paper describes a camera and hand-eye
calibration methodology for integrating an active binocular
robot head within a dual-arm robot. For this purpose, we
derive the forward kinematic model of our active robot head
and describe our methodology for calibrating and integrating
our robot head. This rigid calibration provides a closedform
hand-to-eye solution. We then present an approach for
updating dynamically camera external parameters for optimal
3D reconstruction that are the foundation for robotic tasks such
as grasping and manipulating rigid and deformable objects. We
show from experimental results that our robot head achieves
an overall sub millimetre accuracy of less than 0.3 millimetres
while recovering the 3D structure of a scene. In addition, we
report a comparative study between current RGBD cameras
and our active stereo head within two dual-arm robotic testbeds
that demonstrates the accuracy and portability of our proposed
methodology
CALIBRATION OF 3D KINEMATIC SYSTEMS USING 2D CALIBRATION PLATE
3D kinematic systems based on the images acquired by cameras are one of the most popular tools for a human motion analyses. Prior to the actual reconstruction a camera calibration procedure is needed. Originally 3D calibration cages were utilized for that purpose, but nowadays a vast majority of commercial systems rely on the wand calibration. When the highest degree of accuracy is requested, than using 3D calibration cage is often recommended over the wand calibration. On the other hand, from a user point of view a wand calibration is generally regarded as the most user friendly. A substantial βintermediateβ solution would be using 2D calibration plate. Interestingly, there could be hardly found any trace that commercial 3D kinematic systems ever relied on 2D calibration plate. The purpose of this study was to investigate quantitative and qualitative aspects of calibrating the 3D kinematic system using 2D calibration plate
ΠΠ΅ΠΉΡΠΎΠΊΠ°Π»ΠΈΠ±ΡΠΎΠ²ΠΊΠ° Π±ΠΈΠ½ΠΎΠΊΡΠ»ΡΡΠ½ΠΎΠΉ ΡΠΈΡΡΠ΅ΠΌΡ Ρ ΡΡΡΠ΅ΡΡΠ²Π΅Π½Π½ΠΎΠΉ Π΄ΠΈΡΡΠΎΡΡΠΈΠ΅ΠΉ
ΠΠΎΠΊΠ°Π·Π°Π½Π° ΠΏΡΠΈΠΌΠ΅Π½ΠΈΠΌΠΎΡΡΡ Π½Π΅ΠΉΡΠΎΠ½Π½ΡΡ
ΡΠ΅ΡΠ΅ΠΉ Π² Π·Π°Π΄Π°ΡΠ΅ ΠΊΠ°Π»ΠΈΠ±ΡΠΎΠ²ΠΊΠΈ ΡΡΠ΅ΡΠ΅ΠΎΠΏΠ°ΡΡ Ρ ΡΡΡΠ΅ΡΡΠ²Π΅Π½Π½ΠΎΠΉ
Π΄ΠΈΡΡΠΎΡΡΠΈΠ΅ΠΉ. ΠΠΎΠ΄ΡΠ²Π΅ΡΠΆΠ΄Π΅Π½Π° ΡΡΡΠΎΠΉΡΠΈΠ²ΠΎΡΡΡ Π½Π΅ΠΉΡΠΎΠΊΠ°Π»ΠΈΠ±ΡΠΎΠ²ΠΊΠΈ ΠΊ Π·Π°ΡΡΠΌΠ»Π΅Π½ΠΈΡ ΠΊΠ°Π»ΠΈΠ±ΡΠΎΠ²ΠΎΡΠ½ΡΡ
Π΄Π°Π½Π½ΡΡ
.
ΠΡΠΎΠ²Π΅Π΄Π΅Π½ΠΎ ΡΡΠ°Π²Π½Π΅Π½ΠΈΠ΅ Π°Π½Π°Π»ΠΈΡΠΈΡΠ΅ΡΠΊΠΈΡ
ΠΌΠ΅ΡΠΎΠ΄ΠΎΠ² ΠΊΠ°Π»ΠΈΠ±ΡΠΎΠ²ΠΊΠΈ ΠΈ ΡΠ°Π·Π»ΠΈΡΠ½ΡΡ
ΠΌΠ΅ΡΠΎΠ΄ΠΎΠ² Π½Π΅ΠΉΡΠΎΠΊΠ°Π»ΠΈΠ±ΡΠΎΠ²ΠΊΠΈ,
ΠΎΡΠ»ΠΈΡΠ°ΡΡΠΈΡ
ΡΡ ΠΊΠΎΠ»ΠΈΡΠ΅ΡΡΠ²ΠΎΠΌ ΡΠΊΡΡΡΡΡ
ΡΠ»ΠΎΠ΅Π², ΡΡΠ½ΠΊΡΠΈΠ΅ΠΉ Π°ΠΊΡΠΈΠ²Π°ΡΠΈΠΈ, ΠΈΡΠΏΠΎΠ»ΡΠ·ΠΎΠ²Π°Π½ΠΈΠ΅ΠΌ ΠΏΡΠ΅ΠΏΡΠΎΡΠ΅ΡΡΠΎΡΠ° ΠΈ
ΠΊΠΎΠ»ΠΈΡΠ΅ΡΡΠ²ΠΎΠΌ Π½Π΅ΠΉΡΠΎΡΠ΅ΡΠ΅Π²ΡΡ
ΠΌΠΎΠ΄ΡΠ»Π΅ΠΉ. ΠΠΎΠ»ΡΡΠ΅Π½Ρ ΠΎΠΏΡΠΈΠΌΠ°Π»ΡΠ½ΡΠ΅ Π°ΡΡ
ΠΈΡΠ΅ΠΊΡΡΡΡ Π½Π΅ΠΉΡΠΎΠ½Π½ΡΡ
ΡΠ΅ΡΠ΅ΠΉ Π΄Π»Ρ Π·Π°Π΄Π°ΡΠΈ
Π½Π΅ΠΉΡΠΎΠΊΠ°Π»ΠΈΠ±ΡΠΎΠ²ΠΊΠΈ. Π‘ΡΠΎΡΠΌΡΠ»ΠΈΡΠΎΠ²Π°Π½Ρ ΠΏΡΠ°ΠΊΡΠΈΡΠ΅ΡΠΊΠΈΠ΅ ΡΠ΅ΠΊΠΎΠΌΠ΅Π½Π΄Π°ΡΠΈΠΈ ΠΏΠΎ ΠΏΡΠΎΡΠ΅Π΄ΡΡΠ΅ Π½Π΅ΠΉΡΠΎΠΊΠ°Π»ΠΈΠ±ΡΠΎΠ²ΠΊΠΈ
Π±ΠΈΠ½ΠΎΠΊΡΠ»ΡΡΠ½ΡΡ
ΡΠΈΡΡΠ΅ΠΌ. Π Π°Π·ΡΠ°Π±ΠΎΡΠ°Π½ ΠΎΡΠΈΠ³ΠΈΠ½Π°Π»ΡΠ½ΡΠΉ ΠΏΡΠΎΠ³ΡΠ°ΠΌΠΌΠ½ΡΠΉ ΠΊΠΎΠΌΠΏΠ»Π΅ΠΊΡ Π½Π° ΡΠ·ΡΠΊΠ΅ Matlab Π΄Π»Ρ
Π³Π΅Π½Π΅ΡΠΈΡΠΎΠ²Π°Π½ΠΈΡ ΡΠΈΠ½ΡΠ΅ΡΠΈΡΠ΅ΡΠΊΠΈΡ
Π΄Π°Π½Π½ΡΡ
ΠΈ ΠΎΠ±ΡΠ°Π±ΠΎΡΠΊΠΈ ΡΠ΅Π·ΡΠ»ΡΡΠ°ΡΠΎΠ² ΠΊΠ°Π»ΠΈΠ±ΡΠΎΠ²ΠΊΠΈ.ΠΠΎΠΊΠ°Π·Π°Π½ΠΎ Π·Π°ΡΡΠΎΡΠΎΠ²Π½ΡΡΡΡ Π½Π΅ΠΉΡΠΎΠ½Π½ΠΈΡ
ΠΌΠ΅ΡΠ΅ΠΆ Π΄ΠΎ Π·Π°Π΄Π°ΡΡ ΠΊΠ°Π»ΡΠ±ΡΡΠ²Π°Π½Π½Ρ ΡΡΠ΅ΡΠ΅ΠΎΠΏΠ°ΡΠΈ Π· ΡΡΡΠΎΡΠ½ΠΎΡ
Π΄ΠΈΡΡΠΎΡΡΡΡΡ. ΠΡΠ΄ΡΠ²Π΅ΡΠ΄ΠΆΠ΅Π½ΠΎ ΡΡΡΠΉΠΊΡΡΡΡ Π½Π΅ΠΉΡΠΎΠΊΠ°Π»ΡΠ±ΡΡΠ²Π°Π½Π½Ρ Π΄ΠΎ Π·Π°ΡΡΠΌΠ»Π΅Π½Π½Ρ ΠΊΠ°Π»ΡΠ±ΡΡΠ²Π°Π»ΡΠ½ΠΈΡ
Π΄Π°Π½ΠΈΡ
. ΠΡΠΎΠ²Π΅Π΄Π΅Π½ΠΎ
ΠΏΠΎΡΡΠ²Π½ΡΠ½Π½Ρ Π°Π½Π°Π»ΡΡΠΈΡΠ½ΠΈΡ
ΠΌΠ΅ΡΠΎΠ΄ΡΠ² ΠΊΠ°Π»ΡΠ±ΡΡΠ²Π°Π½Π½Ρ ΡΠ° ΡΡΠ·Π½ΠΈΡ
ΠΌΠ΅ΡΠΎΠ΄ΡΠ² Π½Π΅ΠΉΡΠΎΠΊΠ°Π»ΡΠ±ΡΡΠ²Π°Π½Π½Ρ, ΡΠΎ Π²ΡΠ΄ΡΡΠ·Π½ΡΡΡΡΡΡ
ΠΊΡΠ»ΡΠΊΡΡΡΡ ΠΏΡΠΈΡ
ΠΎΠ²Π°Π½ΠΈΡ
ΡΠ°ΡΡΠ², ΡΡΠ½ΠΊΡΡΡΡ Π°ΠΊΡΠΈΠ²Π°ΡΡΡ, Π²ΠΈΠΊΠΎΡΠΈΡΡΠ°Π½Π½ΡΠΌ ΠΏΡΠ΅ΠΏΡΠΎΡΠ΅ΡΠΎΡΠ° ΡΠ° ΠΊΡΠ»ΡΠΊΡΡΡΡ
Π½Π΅ΠΉΡΠΎΠΌΠ΅ΡΠ΅ΠΆΠ΅Π²ΠΈΡ
ΠΌΠΎΠ΄ΡΠ»Π΅ΠΉ. ΠΡΡΠΈΠΌΠ°Π½ΠΎ ΠΎΠΏΡΠΈΠΌΠ°Π»ΡΠ½Ρ Π°ΡΡ
ΡΡΠ΅ΠΊΡΡΡΠΈ Π½Π΅ΠΉΡΠΎΠ½Π½ΠΈΡ
ΠΌΠ΅ΡΠ΅ΠΆ Π΄Π»Ρ Π·Π°Π΄Π°ΡΡ
Π½Π΅ΠΉΡΠΎΠΊΠ°Π»ΡΠ±ΡΡΠ²Π°Π½Π½Ρ. Π‘ΡΠΎΡΠΌΡΠ»ΡΠΎΠ²Π°Π½ΠΎ ΠΏΡΠ°ΠΊΡΠΈΡΠ½Ρ ΡΠ΅ΠΊΠΎΠΌΠ΅Π½Π΄Π°ΡΡΡ ΡΠΎΠ΄ΠΎ ΠΏΡΠΎΡΠ΅Π΄ΡΡΠΈ Π½Π΅ΠΉΡΠΎΠΊΠ°Π»ΡΠ±ΡΡΠ²Π°Π½Π½Ρ Π±ΡΠ½ΠΎΠΊΡΠ»ΡΡΠ½ΠΈΡ
ΡΠΈΡΡΠ΅ΠΌ. Π ΠΎΠ·ΡΠΎΠ±Π»Π΅Π½ΠΎ ΠΎΡΠΈΠ³ΡΠ½Π°Π»ΡΠ½ΠΈΠΉ ΠΏΡΠΎΠ³ΡΠ°ΠΌΠ½ΠΈΠΉ ΠΊΠΎΠΌΠΏΠ»Π΅ΠΊΡ Π½Π° ΠΌΠΎΠ²Ρ Matlab Π΄Π»Ρ Π³Π΅Π½Π΅ΡΠ°ΡΡΡ ΡΠΈΠ½ΡΠ΅ΡΠΈΡΠ½ΠΈΡ
Π΄Π°Π½ΠΈΡ
ΡΠ°
ΠΎΠ±ΡΠΎΠ±ΠΊΠΈ ΡΠ΅Π·ΡΠ»ΡΡΠ°ΡΡΠ² ΠΊΠ°Π»ΡΠ±ΡΡΠ²Π°Π½Π½Ρ.Neural networks applicability to the task of essentially distorted stereopair calibration is demonstrated.
Neurocalibration robustness to the noise in calibration data is justified. Analytical calibration methods are compared
with different neurocalibration ones, which differ in number of hidden layers, activation function, preprocessor usage
and number of neural modules. Optimal neural networks architectures for the task of neurocalibration are obtained.
Practical recommendations for binocular systems calibration procedure are formulated. Original software complex in
Matlab language is developed for synthetic data generation and calibration results processing
ΠΠ΅ΠΉΡΠΎΠΊΠ°Π»ΠΈΠ±ΡΠΎΠ²ΠΊΠ° ΡΡΠ΅ΡΠ΅ΠΎΠΏΠ°ΡΡ
Π Π°ΡΡΠΌΠΎΡΡΠ΅Π½Π° Π·Π°Π΄Π°ΡΠ° ΠΊΠ°Π»ΠΈΠ±ΡΠΎΠ²ΠΊΠΈ ΡΡΠ΅ΡΠ΅ΠΎΠΏΠ°ΡΡ ΠΏΡΠΈ ΠΏΠΎΠΌΠΎΡΠΈ Π½Π΅ΠΉΡΠΎΠ½Π½ΡΡ
ΡΠ΅ΡΠ΅ΠΉ. ΠΡΡΠ»Π΅Π΄ΠΎΠ²Π°Π½Ρ ΡΠ°Π·Π»ΠΈΡΠ½ΡΠ΅ ΠΌΠ΅ΡΠΎΠ΄Ρ Π½Π΅ΠΉΡΠΎΠΊΠ°Π»ΠΈΠ±ΡΠΎΠ²ΠΊΠΈ,
ΠΎΡΠ»ΠΈΡΠ°ΡΡΠΈΠ΅ΡΡ ΠΊΠΎΠ»ΠΈΡΠ΅ΡΡΠ²ΠΎΠΌ ΡΠΊΡΡΡΡΡ
ΡΠ»ΠΎΠ΅Π², ΠΊΠΎΠ»ΠΈΡΠ΅ΡΡΠ²ΠΎΠΌ Π½Π΅ΠΉΡΠΎΡΠ΅ΡΠ΅Π²ΡΡ
ΠΌΠΎΠ΄ΡΠ»Π΅ΠΉ, ΠΏΡΠ΅ΠΏΡΠΎΡΠ΅ΡΡΠΈΠ½Π³ΠΎΠΌ Π²Ρ
ΠΎΠ΄Π½ΡΡ
Π΄Π°Π½Π½ΡΡ
, ΡΡΠ½ΠΊΡΠΈΠ΅ΠΉ
Π°ΠΊΡΠΈΠ²Π°ΡΠΈΠΈ ΠΈ Π°Π»Π³ΠΎΡΠΈΡΠΌΠΎΠΌ ΠΎΠ±ΡΡΠ΅Π½ΠΈΡ. Π Π°Π·ΡΠ°Π±ΠΎΡΠ°Π½Π° ΡΠ½ΠΈΡΠΈΡΠΈΡΠΎΠ²Π°Π½Π½Π°Ρ ΠΌΠ΅ΡΠΎΠ΄ΠΈΠΊΠ° Π½Π°Ρ
ΠΎΠΆΠ΄Π΅Π½ΠΈΡ ΠΎΠΏΡΠΈΠΌΠ°Π»ΡΠ½ΠΎΠ³ΠΎ ΠΊΠΎΠ»ΠΈΡΠ΅ΡΡΠ²Π° Π½Π΅ΠΉΡΠΎΠ½ΠΎΠ² Π²
ΡΠΊΡΡΡΡΡ
ΡΠ»ΠΎΡΡ
ΠΈ ΠΎΠΏΡΠ΅Π΄Π΅Π»Π΅Π½ΠΎ ΠΎΠΏΡΠΈΠΌΠ°Π»ΡΠ½ΠΎΠ΅ ΠΊΠΎΠ»ΠΈΡΠ΅ΡΡΠ²ΠΎ Π½Π΅ΠΉΡΠΎΠ½ΠΎΠ² Π² ΡΠΊΡΡΡΡΡ
ΡΠ»ΠΎΡΡ
Π΄Π»Ρ ΠΊΠ°ΠΆΠ΄ΠΎΠ³ΠΎ ΠΈΠ· ΠΌΠ΅ΡΠΎΠ΄ΠΎΠ². ΠΡΠΎΠ²Π΅Π΄Π΅Π½ΠΎ ΡΡΠ°Π²Π½Π΅Π½ΠΈΠ΅
ΠΌΠ΅ΡΠΎΠ΄ΠΎΠ² Π½Π΅ΠΉΡΠΎΠΊΠ°Π»ΠΈΠ±ΡΠΎΠ²ΠΊΠΈ ΠΌΠ΅ΠΆΠ΄Ρ ΡΠΎΠ±ΠΎΠΉ ΠΈ Ρ Π°Π½Π°Π»ΠΈΡΠΈΡΠ΅ΡΠΊΠΈΠΌΠΈ ΠΌΠ΅ΡΠΎΠ΄Π°ΠΌΠΈ ΠΊΠ°Π»ΠΈΠ±ΡΠΎΠ²ΠΊΠΈ Π½Π° ΡΠΈΠ½ΡΠ΅ΡΠΈΡΠ΅ΡΠΊΠΈΡ
ΠΈ ΡΠ΅Π°Π»ΡΠ½ΡΡ
Π΄Π°Π½Π½ΡΡ
.
Π‘ΡΠΎΡΠΌΡΠ»ΠΈΡΠΎΠ²Π°Π½Ρ ΠΏΡΠ°ΠΊΡΠΈΡΠ΅ΡΠΊΠΈΠ΅ ΡΠ΅ΠΊΠΎΠΌΠ΅Π½Π΄Π°ΡΠΈΠΈ ΠΏΠΎ ΠΏΡΠΎΡΠ΅Π΄ΡΡΠ΅ Π½Π΅ΠΉΡΠΎΠΊΠ°Π»ΠΈΠ±ΡΠΎΠ²ΠΊΠΈ ΡΡΠ΅ΡΠ΅ΠΎΠΏΠ°Ρ ΡΠΎ ΡΠ»Π°Π±ΡΠΌΠΈ Π½Π΅Π»ΠΈΠ½Π΅ΠΉΠ½ΡΠΌΠΈ
ΠΈΡΠΊΠ°ΠΆΠ΅Π½ΠΈΡΠΌΠΈ.Π ΠΎΠ·Π³Π»ΡΠ½ΡΡΠΎ Π·Π°Π΄Π°ΡΡ ΠΊΠ°Π»ΡΠ±ΡΠΎΠ²ΠΊΠΈ ΡΡΠ΅ΡΠ΅ΠΎΠΏΠ°ΡΠΈ Π·Π° Π΄ΠΎΠΏΠΎΠΌΠΎΠ³ΠΎΡ Π½Π΅ΠΉΡΠΎΠ½Π½ΠΈΡ
ΠΌΠ΅ΡΠ΅ΠΆ. ΠΠΎΡΠ»ΡΠ΄ΠΆΠ΅Π½ΠΎ ΡΡΠ·Π½Ρ ΠΌΠ΅ΡΠΎΠ΄ΠΈ Π½Π΅ΠΉΡΠΎΠΊΠ°Π»ΡΠ±ΡΡΠ²Π°Π½Π½Ρ, ΡΠΊΡ
Π²ΡΠ΄ΡΡΠ·Π½ΡΡΡΡΡΡ ΠΊΡΠ»ΡΠΊΡΡΡΡ ΠΏΡΠΈΡ
ΠΎΠ²Π°Π½ΠΈΡ
ΡΠ°ΡΡΠ², ΠΊΡΠ»ΡΠΊΡΡΡΡ Π½Π΅ΠΉΡΠΎΠΌΠ΅ΡΠ΅ΠΆΠ΅Π²ΠΈΡ
ΠΌΠΎΠ΄ΡΠ»Π΅ΠΉ, ΠΏΡΠ΅ΠΏΡΠΎΡΠ΅ΡΡΠ½Π³ΠΎΠΌ Π²Ρ
ΡΠ΄Π½ΠΈΡ
Π΄Π°Π½ΠΈΡ
, ΡΡΠ½ΠΊΡΡΡΡ Π°ΠΊΡΠΈΠ²Π°ΡΡΡ
ΡΠ° Π°Π»Π³ΠΎΡΠΈΡΠΌΠΎΠΌ Π½Π°Π²ΡΠ°Π½Π½Ρ. Π ΠΎΠ·ΡΠΎΠ±Π»Π΅Π½ΠΎ ΡΠ½ΡΡΡΠΊΠΎΠ²Π°Π½Ρ ΠΌΠ΅ΡΠΎΠ΄ΠΈΠΊΡ Π·Π½Π°Ρ
ΠΎΠ΄ΠΆΠ΅Π½Π½Ρ ΠΎΠΏΡΠΈΠΌΠ°Π»ΡΠ½ΠΎΡ ΠΊΡΠ»ΡΠΊΠΎΡΡΡ Π½Π΅ΠΉΡΠΎΠ½ΡΠ² Ρ ΠΏΡΠΈΡ
ΠΎΠ²Π°Π½ΠΈΡ
ΡΠ°ΡΠ°Ρ
ΡΠ°
Π²ΠΈΠ·Π½Π°ΡΠ΅Π½ΠΎ ΠΎΠΏΡΠΈΠΌΠ°Π»ΡΠ½Ρ ΠΊΡΠ»ΡΠΊΡΡΡΡ Π½Π΅ΠΉΡΠΎΠ½ΡΠ² Ρ ΠΏΡΠΈΡ
ΠΎΠ²Π°Π½ΠΈΡ
ΡΠ°ΡΠ°Ρ
Π΄Π»Ρ ΠΊΠΎΠΆΠ½ΠΎΠ³ΠΎ Π· ΠΌΠ΅ΡΠΎΠ΄ΡΠ². ΠΡΠΎΠ²Π΅Π΄Π΅Π½ΠΎ ΠΏΠΎΡΡΠ²Π½ΡΠ½Π½Ρ ΠΌΠ΅ΡΠΎΠ΄ΡΠ²
Π½Π΅ΠΉΡΠΎΠΊΠ°Π»ΡΠ±ΡΠΎΠ²ΠΊΠΈ ΠΌΡΠΆ ΡΠΎΠ±ΠΎΡ ΡΠ° Π· Π°Π½Π°Π»ΡΡΠΈΡΠ½ΠΈΠΌΠΈ ΠΌΠ΅ΡΠΎΠ΄Π°ΠΌΠΈ ΠΊΠ°Π»ΡΠ±ΡΠΎΠ²ΠΊΠΈ Π½Π° ΡΠΈΠ½ΡΠ΅ΡΠΈΡΠ½ΠΈΡ
ΡΠ° ΡΠ΅Π°Π»ΡΠ½ΠΈΡ
Π΄Π°Π½ΠΈΡ
. Π‘ΡΠΎΡΠΌΡΠ»ΡΠΎΠ²Π°Π½ΠΎ
ΠΏΡΠ°ΠΊΡΠΈΡΠ½Ρ ΡΠ΅ΠΊΠΎΠΌΠ΅Π½Π΄Π°ΡΡΡ ΡΠΎΠ΄ΠΎ ΠΏΡΠΎΡΠ΅Π΄ΡΡΠΈ Π½Π΅ΠΉΡΠΎΠΊΠ°Π»ΡΠ±ΡΠΎΠ²ΠΊΠΈ ΡΡΠ΅ΡΠ΅ΠΎΠΏΠ°Ρ Π·Ρ ΡΠ»Π°Π±ΠΊΠΈΠΌΠΈ Π½Π΅Π»ΡΠ½ΡΠΉΠ½ΠΈΠΌΠΈ ΡΠΏΠΎΡΠ²ΠΎΡΠ΅Π½Π½ΡΠΌΠΈ.The task of stereopair calibration using neural networks is considered. Different methods of neurocalibration are investigated which differ
in number of hidden layers, number of neural modules, input data preprocessing, activation function and learning algorithm. Unified
procedure for finding optimal number of hidden neurons is developed. Optimal number of neurons in hidden layers is determined for each
of the neurocalibration methods according to this procedure. Neurocalibraion methods are compared with analytical ones on synthetic
and real data. Practical recommendations for neurocalibration of stereopairs with low distorsion are formulated
3D Reconstruction for Simultaneous Localisation and Mapping System (SLAM) in Robotics using Webcam Images
The purpose of this research is to study on 3D reconstruction using webcam images in indoor environment. The research is focused on computer vision and image processing for robotics. It aims to design a simple but efficient 3D reconstruction technique which could be used as part of the Simultaneous Localization and Mapping (SLAM) system in robotics and autonomous vehicles
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