Extrinsic RGB-D camera calibration for legged robots

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  • Presented at: CLAWAR 2011: the 14th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, UPMC, Paris, France, September 6-8, 2011
  • Published in: CLAWAR 2011: the 14th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, p. 94
  • Publication date: 2011

This paper describes a method to identify the extrinsic parameters of RGB-D cameras mounted on legged robots. Since the calculation of the parameters is based on the detection of the robots feet in the camera images, no special calibration objects are required. Therefore the method is simple to use and can even be applied automatically. Experiments demonstrate the precision and the robustness of the method.

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