KR101850118B1 - Method and System for Calibration of Mobile Robot and Camera - Google Patents

Abstract

The present invention relates to a method and a system for calibrating a mobile robot and a camera, and a method according to an embodiment of the present invention includes planning and generating a variable pattern marker, generating the generated variable pattern marker on a display device A step of photographing the displayed variable pattern marker by the camera, and a step of recognizing the variable pattern marker in the image of the photographed camera and determining the calibration parameters of the mobile robot and the camera. According to the present invention, a variable pattern marker in which the resolution of a camera is considered is displayed on a display device provided in a mobile robot, and a calibration with high accuracy can be performed by recognizing a displayed variable pattern marker.

Description

TECHNICAL FIELD [0001] The present invention relates to a method and a system for calibrating a mobile robot and a camera,

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method and system for calibrating a mobile robot and a camera, and more particularly, to a method and system for calibrating a mobile robot and a camera that determine calibration parameters of a mobile robot and a camera.

In order to perform the task, the robot must accurately recognize environmental information and object information around the robot. For this purpose, it is possible to attach a camera to the robot itself. However, due to the space limitation of the robot, a robot having a low resolution and a small size is attached to the robot. Instead, a high resolution camera is fixed around the robot.

Conventionally, an operation robot and a camera have been fixed and used in the robot operation. Recently, the positional relationship between the mobile robot and the camera can be changed by introducing a mobile manipulator and the like. Therefore, frequent calibration must be performed for the sophisticated handling of the mobile manipulator.

Calibration refers to the conversion of image data values for an operating object viewed through a camera into a robot coordinate system. That is, when the robot holds an object or tries to move to the position of the object, the robot must know the position of the object. The calibration is to allow the robot to accurately know the position of the object viewed through the camera.

In order to perform such calibration, a landmark is attached to a mechanical part of the robot, and a camera captures and recognizes and then calibrates the method. However, if this method is used, the landmark must be attached to the robot in a precise manner, and if the landmark is located at a specific position in the camera coordinate system, the accuracy of the calibration may be lowered if the camera resolution is insufficient.

Korean Unexamined Patent Publication No. 2007-0122271 (published on December 31, 2007)

SUMMARY OF THE INVENTION Accordingly, it is an object of the present invention to provide a mobile robot capable of displaying a variable pattern marker in which a resolution of a camera is considered in a display device installed in a mobile robot and recognizing a displayed variable pattern marker, And a method and system for calibrating a camera.

Further, the present invention includes other objects that can be achieved from the construction of the present invention described later, in addition to the objects explicitly mentioned.

According to another aspect of the present invention, there is provided a method of calibrating a mobile robot and a camera, the method comprising: generating and planning a variable pattern marker; displaying the generated variable pattern marker on a display device mounted on the mobile robot; Determining a calibration parameter of the mobile robot and the camera by recognizing the variable pattern marker in the image of the photographed camera;

The shape and size of the variable pattern marker may be determined according to the resolution of the camera.

The variable pattern marker may include at least one basic pattern marker, and the basic pattern marker may include at least three characteristic points.

The three or more feature points may include circular feature points and a plurality of elliptical feature points that become longer from the circular feature points to longer ones.

The radius (r) of the circular feature point, the interval (b) between the center of the circular feature point and the center of the elliptical feature point located closest to the circular feature point may be varied according to the resolution of the camera.

The variable pattern marker may be composed of a plurality of basic pattern markers radially formed around the circular feature points.

The variable pattern markers may be composed of a plurality of basic pattern markers spaced apart at regular intervals along a predetermined direction.

The predetermined direction may be a direction corresponding to the photographing direction of the camera.

When the variable pattern marker is composed of a plurality of basic pattern markers, the plurality of basic pattern markers are made of different colors, and the direction of the camera can be determined using the colors.

Meanwhile, the mobile robot and the camera calibration system according to the embodiment of the present invention may include a mobile robot having a display device on which variable pattern markers are displayed, a camera for photographing the variable pattern markers, And a controller for recognizing the marker and determining the calibration parameters of the mobile robot and the camera.

The shape and size of the variable pattern marker may be determined according to the resolution of the camera.

The variable pattern marker may include at least one basic pattern marker, and the basic pattern marker may include at least three characteristic points.

The three or more feature points may include circular feature points and a plurality of elliptical feature points that become longer from the circular feature points to longer ones.

The radius (r) of the circular feature point, the interval (b) between the center of the circular feature point and the center of the elliptical feature point located closest to the circular feature point may be varied according to the resolution of the camera.

The variable pattern marker may be composed of a plurality of basic pattern markers radially formed around the circular feature points.

The variable pattern markers may be composed of a plurality of basic pattern markers spaced apart at regular intervals along a predetermined direction.

The predetermined direction may be a direction corresponding to the photographing direction of the camera.

When the variable pattern marker is composed of a plurality of basic pattern markers, the plurality of basic pattern markers are made of different colors, and the controller can determine the direction of the camera using the color.

According to the method and system for calibrating a mobile robot and a camera according to an embodiment of the present invention, a variable pattern marker having a resolution of a camera is displayed on a display device installed in the mobile robot, a variable pattern marker displayed is recognized, Can be performed, and a camera having a relatively low resolution can be used.

It is possible to plan and display and recognize the variable pattern marker without human intervention, and the mobile robot can utilize the sophisticated camera image information installed around the worksite by itself.

Accordingly, it is expected to be highly utilizable in an automatic unmanned process, and such a calibration technique can be widely applied from a personal service robot to a professional service robot.

On the other hand, the effects of the present invention are not limited to those described above, and other effects that can be derived from the constitution of the present invention described below are also included in the effects of the present invention.

1 is a configuration diagram of a mobile robot and a camera calibration system according to an embodiment of the present invention.
FIG. 2 is a flowchart illustrating a process of calibrating a mobile robot and a camera according to an exemplary embodiment of the present invention.
3 is a view showing a relative position between a robot coordinate system and a camera coordinate system.
FIG. 4 is an exemplary diagram illustrating a basic pattern marker according to an exemplary embodiment of the present invention. Referring to FIG.
5 is an exemplary diagram of a variable pattern marker made up of a plurality of basic pattern markers according to an embodiment of the present invention.
6 is an exemplary diagram of a variable pattern marker made up of a plurality of basic pattern markers according to another embodiment of the present invention.
7 is an exemplary diagram of a variable pattern marker made up of a plurality of basic pattern markers according to another embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art can easily carry out the present invention.

FIG. 1 shows a configuration diagram of a mobile robot and a camera calibration system according to an embodiment of the present invention.

1, the mobile robot and the camera calibration system 1 are configured to include a mobile robot 100, a camera 200, and a control device 300. [

The mobile robot 100 can move and perform operations, and the display device 120 can be installed. The display device 120 may display a variable pattern marker VM for calibrating the mobile robot 100 and the camera 200. [ The variable pattern marker VM may be generated in the display device 120 or may be generated in the mobile robot 100 or the control device 300. [ When the variable pattern marker VM is generated in the mobile robot 100 or the control device 300, the display device 120 transmits the variable pattern marker VM to the mobile robot 100 or the control device 300, Can be received and displayed on the screen display means.

The variable pattern marker VM may be composed of three or more feature points, and the shape and size of the variable pattern marker VM may vary depending on the resolution of the camera 200. The variable pattern marker VM whose shape and size are variable according to the resolution of the camera 200 will be described in more detail with reference to FIG.

The camera 200 can be fixedly installed at a designated position in the space where the mobile robot 100 operates based on the world coordinate system W and can acquire an image necessary for the operation of the mobile robot 100. The camera 200 may include a two-dimensional image camera or a three-dimensional image camera to obtain a two-dimensional camera image or a three-dimensional camera image.

The camera 200 can acquire an image of a camera that has photographed the variable pattern marker VM displayed on the display device 120 for calibration with the mobile robot 100.

The control device 300 can recognize the calibration parameters of the mobile robot 100 and the camera 200 by recognizing the variable pattern marker VM from the image of the camera 200. [

More specifically, the control device 300 can perform calibration to obtain a relative conversion between the robot coordinate system R and the camera coordinate system C while the mobile robot 100 performs an operation. In order to perform the calibration of the mobile robot 100 and the camera 200, three or more feature points are required. To this end, in the display device 120 attached to the mobile robot 100, a variable pattern marker composed of three or more feature points The controller 200 recognizes the variable pattern marker VM from the image of the variable pattern marker taken by the camera 200 and determines the calibration parameters of the mobile robot 100 and the camera 200 have.

After the calibration parameters are determined, the environment and object information obtained from the image information recognized by the camera 200 are converted into the robot coordinate system R. Then, the mobile robot 100 manipulates the object using the information, . The mobile robot 100 can be used in various applications such as picking parts supplied by a feeder, parts assembly, pick-and-place, and parts detail inspection at a work site where an industrial robot is used.

Hereinafter, the process of performing the calibration of the mobile robot and the camera according to an embodiment of the present invention will be described in more detail.

FIG. 2 is a flowchart illustrating a process of calibrating a mobile robot and a camera according to an exemplary embodiment of the present invention, and FIG. 3 is a diagram illustrating a relative position between a robot coordinate system and a camera coordinate system.

만큼 기울어진 각도로 디스플레이 장치(120)를 바라보고 있을 때, 도 3과 같이 세계 좌표계(W), 카메라 좌표계(C), 디스플레이 장치 좌표계(M)를 설정할 수 있다. 디스플레이 장치 좌표계(M)와 카메라 좌표계(C) 간의 변환을

라고 했을 때, 디스플레이 장치 좌표계(M) 상의

의 카메라 좌표계(C)에서의 위치는 다음 [수학식 1]과 같이 표현된다.Referring to FIG. 2, the mobile robot and the camera calibration system 1 can generate a variable pattern marker VM (S200). The display device 120 installed in the mobile robot 100 is placed in the XY plane with respect to the world coordinate system W and the camera 200 fixed at a predetermined height h is moved from the vertical direction

The world coordinate system W, the camera coordinate system C, and the display device coordinate system M can be set as shown in FIG. 3 when the display device 120 is viewed at an angle inclined by a predetermined angle. The conversion between the display device coordinate system (M) and the camera coordinate system (C)

(M) of the display device coordinate system

The position in the camera coordinate system C is represented by the following equation (1).

[Equation 1]

는 디스플레이 장치 좌표계(M)와 카메라 좌표계(C) 간의 변환이고,

는 공간상의 한 점

를 카메라 좌표계(C)로 나타낸 좌표값이고,

는 공간상의 한 점

를 디스플레이 장치 좌표계(M)로 나타낸 좌표값이다.here,

Is a transformation between the display device coordinate system M and the camera coordinate system C,

Is a point in space

Is a coordinate value represented by the camera coordinate system (C)

Is a point in space

Is a coordinate value indicated by the display device coordinate system M.

의 위치는 다음 [수학식 2]와 같이 표현된다.At this time,

Is expressed by the following equation (2).

&Quot; (2) "

는 공간상의 한 점

의 카메라 영상 상에서의 위치로, 단위는 픽셀이고 영상의 중심을 (0,0)으로 설정할 수 있다. 그리고 f는 카메라의 초점 거리이고, d는 이미지 센서에서 영상의 1 픽셀에 해당하는 부분의 길이이며, d는 해상도와 반비례 관계를 가질 수 있다. 디스플레이 장치(120)는 세계 좌표계(W)에서 XY 평면에 놓여있는 상태이기 때문에

을 항상 만족할 수 있다.here,

Is a point in space

, The unit is pixel and the center of the image can be set to (0, 0). F is the focal length of the camera, d is the length of the portion of the image corresponding to one pixel of the image, and d is in inverse proportion to the resolution. Since the display device 120 is placed in the XY plane in the world coordinate system W

Can always be satisfied.

는 항상

을 만족하기 때문에 다음 [수학식 3]이 성립될 수 있다.Thus, for a point on the display device 120,

Always

The following equation (3) can be established.

&Quot; (3) "

Using Equation (3), the following Equation (4) can be obtained.

&Quot; (4) "

Based on these relational expressions, when Jacobian is applied to see how the position of the point on the display device 120 changes when the position of the point changes on the image of the camera, the following equation (5) can be obtained .

&Quot; (5) "

Accordingly, the following equation (6) can be established.

&Quot; (6) "

픽셀인 격자 구조를 가지도록 하려고 할 때,

와

는 0 또는

가 된다.

,

는 영상 중심으로부터 점

까지의 픽셀 수를 나타내며,

,

는 점

로부터 각각 X축, Y축 방향으로 벗어난 픽셀 수를 나타낼 수 있다. 즉, 카메라의 영상 위의 점

에서 x축으로 격자 1칸 이동하면

,

이 된다. 이러한 상황에서 디스플레이 장치 좌표계(M)에서의 변화량

,

은

에서의 Jacobian J의 각 원소들의 크기가 얼마인지에 의해 결정되는데, J의 원소들의 크기는 d가 증가할수록 증가하기 때문에 해상도가 커질수록 줄어들게 된다. 또한, 수평선 아래의 모든 점에서

가 줄어들수록,

가 커질수록 J의 원소들의 크기는 증가한다. The distribution of the feature points displayed on the display device 120 in the image of the camera is spaced apart like the checkerboard

When trying to have a pixel-lattice structure,

Wow

Is 0 or

.

,

From the center of the image

Lt; th > pixel,

,

Point

Axis direction and the Y-axis direction, respectively. That is, the point on the image of the camera

Moving a grid by x on the x axis

,

. In this situation, the change amount in the display device coordinate system M

,

silver

The size of the elements of J increases as d increases, so it decreases as the resolution increases. Also, at every point below the horizon

As the number decreases,

The larger the size of J, the larger the size of the elements.

가 낮을수록,

가 클수록 디스플레이 장치(120) 상에서 특징점들의 크기를 키우고, 이웃한 특징점들 간의 간격을 더 크게 배치해야 한다. 하지만 캘리브레이션을 수행하기 전에는

값을 모르는 상태이므로,

가 줄어드는 방향이 디스플레이 장치 좌표계(M) 상에서 어느 방향인지 알 수 없다.Therefore, in order to create a grid pattern having a constant pixel interval in an image, the lower the resolution,

The lower,

The size of the minutiae points on the display device 120 should be increased and the interval between adjacent minutiae points should be larger. However, before performing the calibration

Since the value is unknown,

Can not be known in which direction the display device coordinate system M is decreasing.

에 독립적이기 위하여

,

인 부분에 대해 기본 패턴을 형성하고 이를 균일한 여러 각도로 회전하면서 얻어지는 패턴을 합쳐서 최종 패턴을 얻도록 할 수 있다.

인 경우,

와

는 반대 방향이므로,

이 커질수록 특징점의 크기와 간격이 커져야 한다.therefore,

To be independent of

,

It is possible to obtain a final pattern by combining the patterns obtained by forming a basic pattern on a portion of the substrate and rotating it at various uniform angles.

Quot;

Wow

Is in the opposite direction,

The greater the size and spacing of the feature points.

FIG. 4 shows an exemplary diagram showing a basic pattern marker according to an embodiment of the present invention.

The variable pattern marker VM may include at least one basic pattern marker, and each basic pattern marker may be composed of three or more feature points. The three or more feature points may include a plurality of circular feature points and a plurality of elliptical feature points that are lengthened with a longer radius from the circular feature points.

Referring to FIG. 4, the basic pattern marker may be composed of one circular feature point CP and first to third elliptical feature points EP-1 to EP-3. The circular feature points CP are in the form of a circle having no distortion. The radius is r, the long radius of the first elliptical feature point EP-1 is ar, the long radius of the second elliptical feature point EP-2 is a ² r, The major axis of feature point (EP-3) is a ³ r, and a is a proportional constant. The distance between the center of the circular feature point CP and the center of the first elliptical feature point EP located closest to the circular feature point CP is b and the center of the first elliptical feature point EP- distance between the centers of (EP-2) is a center distance between the center of the third elliptical feature point (EP-3) of the ab, and the second elliptical feature point (EP-2) is a ² b. As described above, the spacing between the initial patterns is set to b, and the spacing and size can be increased by a times as the elliptical feature points are further away from the circular feature points CP by putting the proportionality constant a. When the resolution of the camera 200 is increased, the radius of the circular feature point CP can be reduced. Therefore, the number of feature points can be increased. If the number of feature points is increased, the variable pattern marker VM can be accurately recognized. .

Therefore, the radius r of the circular feature point, the distance b between the center of the circular feature point and the center of the elliptical feature point located closest to the circular feature point, and the proportionality constant a can be varied according to the resolution of the camera 200.

의 반대 방향 상단에서 기본 패턴 마커를 촬영한다면 촬영된 이미지에는 원형 특징점(CP)를 포함하여 타원형 특징점(EP-1~EP-3)들이 대략 원형으로 나타날 것이다. 따라서 원형으로 나타난 특징점에 대한 인식율은 다른 모양이나 형태에 비하여 높기 때문에 도 4의 기본 패턴 마커를 이용하면 시스템에서 높은 정밀도를 가지는 캘리브레이션 파라미터를 결정할 수 있게 된다.4, when the camera 200

, The elliptical feature points EP-1 to EP-3 including the circular feature points CP will appear in a roughly circular shape in the photographed image. Therefore, since the recognition rate for the feature points indicated by the circles is higher than other shapes or shapes, the calibration parameters having high accuracy can be determined by using the basic pattern marker of FIG.

FIG. 5 is an illustration of a variable pattern marker made up of a plurality of basic pattern markers according to an embodiment of the present invention, FIG. 6 is an illustration of an example of a variable pattern marker made up of a plurality of basic pattern markers according to another embodiment of the present invention And FIG. 7 shows an exemplary diagram of a variable pattern marker made up of a plurality of basic pattern markers according to another embodiment of the present invention.

Referring to FIG. 5, the variable pattern marker may be formed of a plurality of basic pattern markers radially formed around circular feature points. The radius r of the circular feature point is 1 cm, the interval b between the centers of the circular feature points and the centers of the elliptical feature points located closest to the circular feature points is 3 cm, the proportionality constant a is 1.1, The final variable pattern marker VM displayed on the display device having a side of 30 cm is obtained by rotating the six basic pattern markers VM-1 to VM-6 about 60 times with respect to one circular feature point CP as shown in FIG. . ≪ / RTI > The variable pattern marker can be realized by combining basic pattern markers obtained in the above-described manner by rotating at various angles with respect to the circular feature points.

Even if the camera 200 photographs the variable pattern marker shown in Fig. 5 in an arbitrary direction, it is highly likely that any one of the six patterns VM-1 to VM-6 is recognized as being nearly circular. Therefore, the calibration system 1 can recognize the position of the variable pattern marker and can finally determine the calibration parameters.

Referring to FIG. 6, the variable pattern markers may be composed of a plurality of basic pattern markers spaced apart at regular intervals along a predetermined direction. For example, the first to ninth circular feature points CP-1 to CP-9 may be arranged in the Y-axis direction as the first to ninth basic pattern markers VM-1 to VM-9. The plurality of elliptical feature points corresponding to the basic pattern markers may be spaced apart at predetermined intervals along the X-axis direction.

The direction of the variable pattern marker may be determined according to the photographing direction of the camera 200. The direction of the variable pattern marker of FIG. 6 may be rotated and arranged according to the photographing direction of the camera, as shown in FIG. That is, the direction of the variable pattern marker can be determined according to the direction of the camera so that at least one of the plurality of feature points photographed by the camera appears as a circle.

When the mobile robot 100 is provided with the gyro sensor or the acceleration sensor and can recognize the relative position with respect to the camera 200, the variable pattern marker can be set in accordance with the direction of the camera 200. This also allows the variable pattern marker to appear as a circle in the camera image to facilitate recognition of the marker.

On the other hand, when the variable pattern marker is composed of a plurality of basic pattern markers, the plurality of basic pattern markers may be made of different colors. For example, when the variable pattern marker is composed of the first to fourth basic pattern markers, the characteristic points constituting the first basic pattern marker are red-colored, the characteristic points constituting the second basic pattern marker are the color of the yellow system, The characteristic points constituting the basic pattern marker may be a green-based color, and the characteristic points constituting the fourth basic pattern marker may be a blue-based color. Accordingly, it is possible to determine the direction of the mobile robot 100 and the camera 200 using the color, that is, it is possible to know from which direction the camera is photographed according to the color of the image photographed by the camera.

For example, when the mobile robot 100 determines that the camera 200 shoots in the direction of the arrow as shown in FIG. 7, the variable pattern marker can be generated and displayed as shown in FIG. 7, The photographed image can be displayed as an approximate circular feature point, and as a result, the variable pattern marker can be recognized well, and precise calibration parameters can be determined.

Referring again to FIG. 2, the variable pattern markers generated and planned in the above-described manner are displayed on the display device 120 (S210). When the camera 200 photographs the displayed variable pattern markers (S220) A variable pattern marker may be recognized from the image of the mobile robot 100 and the calibration parameters of the camera 200 may be determined (S230).

The process of recognizing the variable marker pattern is as follows.

Since the shape of the variable marker pattern is known, it is possible to perform recognition using the affine invariant template matching on the image of the three-dimensional image camera. Through this method, the position of each feature point in the image can be recognized, and the coordinate value of each feature point on the camera coordinate system can be calculated using the depth information of the 3D image camera. At this time, if the radius (r) of the circular feature point, the interval (b) between the center of the circular feature point and the center of the elliptical feature point located closest to the circular feature point and the proportional constant (a) are known, The coordinate values of the respective minutiae can be calculated.

A method for determining the parameter between the camera coordinate system and the robot coordinate system using the information of the recognized variable pattern marker is as follows.

First, since the position of the display device 120 is fixed on the robot coordinate system, the coordinates of the minutiae points of the variable pattern marker on the robot coordinate system can be known. It is possible to obtain a calibration parameter by calculating a relative transformation between two minutiae points by using the minutiae points of the variable pattern marker extracted through the camera 200 together with coordinate values on the camera coordinate system. The position of the work object on the basis of the robot coordinate system can be grasped by converting the position information of the work object grasped on the camera coordinate system into the robot coordinate system by using the calibration parameters between the camera coordinate system and the robot coordinate system obtained through the display device 120 .

과

는 카메라 좌표계와 로봇 좌표계 간의 관계를 규정하고 있는 4x4 행렬 (^RT_C = [4x4] )들로 상호 역행렬 관계 (

= {

}^{- 1})에 있다. 이 변환 행렬은 3x3의 자세 변환 행렬(R_3X3)과 좌표계 원점의 위치 변환 행렬(

)로 다음 [수학식 7]과 같이 결정된다.

and

Is a 4 × 4 matrix ( ^R T _C = [4 × 4]) that defines the relationship between the camera coordinate system and the robot coordinate system.

= {

} ^{- 1} ). This transformation matrix is composed of a 3x3 attitude transformation matrix (R _{3X 3} ) and a position transformation matrix of the origin of the coordinate system

) Is determined according to the following equation (7).

&Quot; (7) "

The posture conversion matrix is determined by three unit direction vectors. The three direction vectors are perpendicular to each other, and this relationship is expressed by Equation (8).

&Quot; (8) "

]R _{3X 3} =

]

=

X

=

X

The number of parameters to be determined can be determined by using three or more variable pattern markers. However, if more than three variable pattern markers are used, The accuracy of the calibration can be improved by using square methods. The relationship between the robot coordinate system and the camera coordinate system with respect to the variable marker pattern is expressed by the following equation (9).

&Quot; (9) "

* ^CP(M) ^R P (M) =

* ^C P (M)

The position of the work object O in the robot coordinate system is determined by the coordinate conversion matrix and the position of the object O in the camera coordinate system and the position of the variable pattern marker in the camera coordinate system Can be obtained through the following equation (10).

&Quot; (10) "

* ^CP(O) ^R P (O) =

* ^C P (O)

Then, the mobile robot 100 can manipulate an object or avoid a collision by utilizing this information.

As described above, the variable pattern markers considering the resolution of the camera are automatically planned, displayed, and displayed on the display device installed in the mobile robot without human intervention, and the variable pattern markers displayed are recognized to perform calibration with high accuracy have.

Embodiments of the present invention include a computer-readable medium having program instructions for performing various computer-implemented operations. This medium records a program for executing the above-described method of calibrating the mobile robot and the camera. The medium may include program instructions, data files, data structures, etc., alone or in combination. Examples of such media include magnetic media such as hard disks, floppy disks and magnetic tape, optical recording media such as CD and DVD, programmed instructions such as floptical disk and magneto-optical media, ROM, RAM, And a hardware device configured to store and execute the program. Or such medium may be a transmission medium, such as optical or metal lines, waveguides, etc., including a carrier wave that transmits a signal specifying a program command, data structure, or the like. Examples of program instructions include machine language code such as those produced by a compiler, as well as high-level language code that can be executed by a computer using an interpreter or the like.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, Of the right.

1: Mobile robot and camera calibration system
100: Mobile robot
120: display device
200: camera
300: Control device

Claims (18)

A step of planning and generating a variable pattern marker,
Displaying the generated variable pattern marker on a display device mounted on a mobile robot,
Photographing the displayed variable pattern marker by a camera, and
Determining a calibration parameter of the mobile robot and the camera by recognizing the variable pattern marker from the image of the photographed camera
Lt; / RTI >
Wherein the variable pattern marker comprises at least one basic pattern marker,
The basic pattern marker is composed of three or more minutiae,
Wherein the three or more feature points include circular feature points and a plurality of elliptical feature points that are longer from the circular feature points,
(B) and a proportional constant (a) between the center of the circular feature point and the center of the elliptical feature point located closest to the circular feature point are varied according to the resolution of the camera, / RTI > The method of claim 1,
The shape and size of the variable-
The method of claim 1, wherein the moving robot and the camera are determined according to a resolution of the camera. delete delete delete A step of planning and generating a variable pattern marker,
Displaying the generated variable pattern marker on a display device mounted on a mobile robot,
Photographing the displayed variable pattern marker by a camera, and
Determining a calibration parameter of the mobile robot and the camera by recognizing the variable pattern marker from the image of the photographed camera
Lt; / RTI >
Wherein the variable pattern marker comprises at least one basic pattern marker,
The basic pattern marker is composed of three or more minutiae,
Wherein the three or more feature points include circular feature points and a plurality of elliptical feature points that are longer from the circular feature points,
The variable-
And a plurality of basic pattern markers radially formed around the circular feature points. A step of planning and generating a variable pattern marker,
Displaying the generated variable pattern marker on a display device mounted on a mobile robot,
Photographing the displayed variable pattern marker by a camera, and
Determining a calibration parameter of the mobile robot and the camera by recognizing the variable pattern marker from the image of the photographed camera
Lt; / RTI >
Wherein the variable pattern marker comprises at least one basic pattern marker,
The basic pattern marker is composed of three or more minutiae,
Wherein the three or more feature points include circular feature points and a plurality of elliptical feature points that are longer from the circular feature points,
The variable-
And a plurality of basic pattern markers spaced apart at regular intervals along a predetermined direction. 8. The method of claim 7,
The predetermined direction is a direction
Wherein the camera is a direction corresponding to a photographing direction of the camera. A step of planning and generating a variable pattern marker,
Displaying the generated variable pattern marker on a display device mounted on a mobile robot,
Photographing the displayed variable pattern marker by a camera, and
Determining a calibration parameter of the mobile robot and the camera by recognizing the variable pattern marker from the image of the photographed camera
Lt; / RTI >
Wherein the variable pattern marker comprises at least one basic pattern marker,
The basic pattern marker is composed of three or more minutiae,
When the variable pattern marker is composed of a plurality of basic pattern markers, the plurality of basic pattern markers are made of different colors,
And determining the direction of the camera using the color. A mobile robot provided with a display device on which a variable pattern marker is displayed,
A camera for photographing the variable pattern marker, and
A controller for recognizing the variable pattern marker from the photographed image of the camera and determining calibration parameters of the mobile robot and the camera,
Lt; / RTI >
Wherein the variable pattern marker comprises at least one basic pattern marker,
Wherein the basic pattern marker comprises three or more feature points, the three or more feature points include a circular feature point and a plurality of elliptical feature points that are lengthened with a longer radius from the circular feature point,
(B) and a proportional constant (a) between the center of the circular feature point and the center of the elliptical feature point located closest to the circular feature point are varied according to the resolution of the camera, Calibration System 11. The method of claim 10,
The shape and size of the variable-
Wherein the mobile robot and the camera are calibrated according to the resolution of the camera. delete delete delete A mobile robot provided with a display device on which a variable pattern marker is displayed,
A camera for photographing the variable pattern marker, and
A controller for recognizing the variable pattern marker from the photographed image of the camera and determining calibration parameters of the mobile robot and the camera,
Lt; / RTI >
Wherein the variable pattern marker comprises at least one basic pattern marker,
Wherein the basic pattern marker comprises three or more feature points, the three or more feature points include a circular feature point and a plurality of elliptical feature points that are lengthened with a longer radius from the circular feature point,
The variable-
And a plurality of basic pattern markers radially formed around the circular feature points. A mobile robot provided with a display device on which a variable pattern marker is displayed,
A camera for photographing the variable pattern marker, and
A controller for recognizing the variable pattern marker from the photographed image of the camera and determining calibration parameters of the mobile robot and the camera,
Lt; / RTI >
Wherein the variable pattern marker comprises at least one basic pattern marker,
Wherein the basic pattern marker comprises three or more feature points, the three or more feature points include a circular feature point and a plurality of elliptical feature points that are lengthened with a longer radius from the circular feature point,
The variable-
And a plurality of basic pattern markers spaced apart at regular intervals along a predetermined direction. 17. The method of claim 16,
The predetermined direction is a direction
Wherein the camera is a direction corresponding to a photographing direction of the camera. A mobile robot provided with a display device on which a variable pattern marker is displayed,
A camera for photographing the variable pattern marker, and
A controller for recognizing the variable pattern marker from the photographed image of the camera and determining calibration parameters of the mobile robot and the camera,
Lt; / RTI >
Wherein the variable pattern marker comprises at least one basic pattern marker,
The basic pattern marker is composed of three or more minutiae,
When the variable pattern marker is composed of a plurality of basic pattern markers, the plurality of basic pattern markers are made of different colors,
The control device includes:
And determining the direction of the camera using the color.

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