METHOD AND SYSTEM FOR PERFORMING AN AUTOMATIC CAMERA CALIBRATION FOR ROBOT CONTROL

摘要

A robot control system and a method for automatic camera calibration will be presented. The robotic control system includes a control circuit configured to determine all corner locations of an imaginary cube that fits within a camera field of view and to determine multiple locations that are distributed at or throughout the imaginary cube. The control circuit is further configured to control a robotic arm to move a calibration pattern to the plurality of locations and to receive a plurality of calibration images corresponding to the plurality of locations and to determine appropriate estimates of intrinsic camera parameters based on the plurality of calibration images and an estimate to determine a transformation function that describes a relationship between a camera coordinate system and a world coordinate system. The control circuit is further configured to control a placement of the robot arm based on the estimate of the transformation function.