Layered Sensing Using Master-slave Cameras

Résumé du livre

The objective of this thesis is to demonstrate the layered sensing concept using Master-Slave cameras. The process of 2D camera calibration and several key factors that can present error during such calibration are described. The analysis and results are based on calibration of a pinhole model camera system. The calibration is accomplished using OpenCV software and the results are analyzed using MATLAB software. These results are divided into intrinsic and extrinsic camera parameters. These parameters are then used to determine the position and orientation of the object in the camera coordinate system. This thesis also explores the use of two cameras as a Master-Slave system to demonstrate the layered sensing concept. The Master camera's orientation, zoom, and distance from the Slave camera is fixed. Using the position and orientation of the object in the Master camera coordinate system, the position of the object in the Slave coordinate system is found using transformation matrices. This information is then used to determine the pan/tilt angles of the Slave camera. The Slave camera is then directed to focus on the object using servo control.