Questions tagged [cameras]

A camera is an optical instrument for recording or capturing images, which may be stored locally, transmitted to another location, or both.

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Automatic License Plate Recognition System in Highway

We are working on a computer vision project where an automated robotic system will be deployed on a 3-lane highway. We are using a bosch IP camera (I don't remember the model exactly, but it cost ...
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How to find visual odometry by video from cellphone camera mounted on robot?

I am writing codes in python for visual odometry from single camera. I used cell phone camera for testing. I took video of 35 sec with camera moving. I used code below to read first image ...
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Camera Pose Estimation

What is the minimum number of point correspondences required for camera pose estimation given the perspective projections of points with known world coordinates?
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What is the definition of the phrase “ego robot”?

What does the phrase "ego robot" mean? I see it used in the context of multi robot systems like in the paper Game Theoretic Motion Planning for Multi-robot Racing by Zijian Wang, Riccardo Spica & ...
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What type of camera parameters are ideal for image processing on a moving platform?

What type of camera or camera properties should I look for that would be ideal for performing image processing in a moving environment? I'm researching the sensor requirements for processing video in ...
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32 views

Determining Orientation of a Robot Relative to a Line on Table

I am currently busy with a robot that needs to obtain it's orientation relative to a line seen by a camera. At the moment, I am using Hough lines to obtain a gradient for the line, but the gradient ...
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22 views

Hint regarding Localization & Map Scaling

I just started with mobile robotics. I'm trying to do a collaborative system between a mobile robot and a ceiling camera (Raspberry). They should do all tasks as a "team". Means Calibration, ...
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Intel RealSense Depth Camera D435i Wide Imager questions?

I have just ordered my d435i and while it was not intended to do NDVI I read the data sheet and noticed it had seperate image sensors, it is possible to read the IR image from either left, right or ...
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30 views

Use Realsense camera to get the camera image

I have to use LIDAR in my project. I was searching for some LIDARs with a camera and came across the Intel RealSense d400 series. I know it has a camera but please suggest a way to use that camera ...
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45 views

Planar Robot Boundary Detection

I am tasked with building a robot that needs to localise and navigate itself on a rectangular surface (like a large desk). The rectangle's shorter sides will be marked with a red tape (or with two ...
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27 views

How to derive the camera trajectory from ICP

This may be a very simple question so please bear with me... Suppose I have a stationary object and point clouds, $n$ $(x,y,z)$ points, of that object taken by a moving camera at time steps $t_i$, $...
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Use Camera Calibration Matrix without Toolbox

I am doing this little project where try to calibrate a Raspberry Pi Camera. I use Matlab and I do not want to use the Calibration Toolbox (!). The algorithm I use is the direct linear transformarion ...
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Ceiling Camera & robot - SLAM still neded?

I've got a question regarding the topic of SLAM. My composition consists of a mobile robot and a top down looking 2D camera with wide-angle lens. It is comparable to a survaillance camera mounted on ...
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62 views

Collaboration of mobile robot and survaillance camera - classic localization (still) needed?

Just started with the topic of mobile robotics.. so I'm still into concept making and little programming, but have not setup everything or tested at all. I got a (differential) mobile robot (lego ...
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Which is the recommended depth estimation method for under vehicle scanning?

There are many ways to estimate depth e.g. Structural light based solutions Time-of-flight (ToF) cameras LiDAR Stereo cameras Computer Vision image based methods Monocular models such as monodepth2 ...
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28 views

Interpreting results from Camera Calibration?

I used OpenCV's findChessboardCorners on a few checkerboard images (40~) and about 27 seemed to find the corners accurately. How does one proceed from here? Do I calculate the reprojection error over ...
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63 views

How to plot the 3D camera trajectory from a VSLAM output

I am totally new to VSLAM algorithms and would want to plot the path followed by the moving camera. I am using the open source implementation of ORB_SLAM2 for a rgb-d camera on benchmark dataset. The ...
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Depth images with undetectable outlines

I'm trying to capture depth images with a RGBD camera, but all of the images have undetectable outlines around objects: Is this expected from RGBD cameras or is mine a dud? It's an Astra Pro.
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Is there a specific way or module I can use to stream video data from a camera hooked to an Arduino Uno board?

I'm currently thinking about the feasibility of creating a robot which streams live video footage and other data such as temperature, humidity, etc. to a smartphone. Is it possible to do this on an ...
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What is the baseline of a RGBD camera?

I'm looking at some ORB SLAM2 settings where there's a parameter for "IR projector baseline times fx". Could someone here explain what exactly is the baseline of an IR projector? Is it the distance ...
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Decrease minimum depth of a RGBD camera

I have a Kinect camera which has a minimum depth of 0.5m and I'm trying to find a way to decrease it to around 0.2m for near-depth detection. Does anyone know how this can be done? Can a macro lens be ...
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165 views

estimate accuracy of (aruco) marker position tracking

I'm planning a concept for calibrating a robot model. For this purpose I want to use computer vision approaches. Since I'm not that experienced in that field I have some basic questions on the ...
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36 views

Does USB read-rate from camera decrease when running inside of a docker container?

I have a general question regarding usb device performance inside of a docker container. For context, I have setup a docker image (for deploying containers on an nvidia jetson agx xavier platform) to ...
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58 views

How to get a wired live feed from camera to phone

I need a clear video live feed from a camera to an android phone. The connection does not have to be wireless because i have to use it without any internet. The camera and phone will be 2 or 3 meters ...
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148 views

What is the relation between FOV, Focal Length and Sensor size in a Pin hole Camera Model?

I aim to recreate the camera parameters of my camera in the Unity rendering system, which has the following variables: 1) I tweaked the focal length and saw that the Field of View is changing (...
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How do I set all objects in my scene to be aligned with respect to the camera in Unity 3D?

To elaborate further - How do I fix the camera as the origin of the 3D world? The context is I am trying to create some synthetic image data for a robotics project, and I have the coordinates of the ...
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Is it possible to calculate a homography matrix for any 2 views?

I've been experimenting with opencv to estimate the homography matrix between 2 images captured with my computer's webcam. I have noticed that when the 2 views are not very far apart (that's when I ...
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38 views

Questions about customized stereo camera

I am designing my robot and I have quite design issues with the available stereo cameras on a market. For the prototype I am using ZED M but it is too expensive and quite large. The question is, do ...
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310 views

Position vs Image based visual servoing?

Can anyone explain Image based visual servoing for robotic arm through example? I can understand Position based based visual servoing like this, .... there is an object and estimating it 6D Pose ...
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63 views

RGBD Camera Eye in Hand Calibration

Hello I am new to robotics. So far I have a basic understanding of the camera calibration. One would need rotation and transformation matrices to convert a point from camera coordinate system to robot/...
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79 views

vision guided robotic arm always required 6d pose of object? [closed]

I have an object like attached in image. It is hanging vertical (its position may change but static object) and I want to grasp it using 6DOF Robotic arm. I am Using camera to detect object. I am ...
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1answer
134 views

Short range stereo vision

I am designing a stereo vision system for short depth range (15 cm to 35 cm) and I have some problems about baseline, focal length and depth range. My application is to scan an animal tissue (meat, ...
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105 views

Extrinsic calibration of a multicamera-rig mounted rigidly on a mobile robot

We have a set of 8 cameras mounted rigidly on a mobile robot. The cameras are forming an arc, which allows a 360º vision. I want the extrinsic parameters of them referred to the robot. Is there any ...
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107 views

robot Hand Eye Calibration problem

I am trying to understand the implementations and the relative performance of various classical and new Hand-eye calibration approaches. Note: The following discussion assumes implementations are in ...
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221 views

How can I preserve a high framerate while using at least 1280x720 resolution on 2 USB cameras on the same computer?

To expand on this, I have a down-facing camera using the whycon ROS node on Ubuntu 16.04 Kinetic on a quad-core computer with 640x480@60fps MJPG video. I'm also using the ...
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36 views

Stereo-Calibration with Variable focal cameras

Is it possible to perform stereo-calibration with cameras having variable focus? and if so, how is it done basically?
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Stereo Rectification when Extrinsics are known

Suppose I have two cameras $C_1$ and $C_2$ arranged in a stereo configuration. Let us assume that the camera is free of distortion with ideal intrinsics and that the camera extrinsics $R$ and $t$ are ...
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39 views

hand-eye calibration for wheeled mobile robots

I am new to robotics and working with a wheeled mobile robot with one Kinect mounted on top of it currently. The robot knows its position in the environment via some means. I encounter one problem. ...
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1answer
131 views

Setting up a Structured Light Stereo system

I am trying to get started with a stereo experiment and wanted to know the mistakes I might have made during the experiment. The goal is to calculate the depth map of an object using one light ...
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2answers
303 views

Hand eye calibration of robot arm using a 2D camera and marker of known size

If my understanding is correct, one flavor of hand eye calibration requires the following pairs of data for different robot arm positions: The transform from the robot base to the robot hand. The ...
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38 views

Which algorithms to locate a static 3D object relative to a moving camera/IMU?

I am using typical setup with camera and IMU as found on a smartphone. Using this, I would like to estimate the relative pose between the camera and an object (for simplicity, let's say a cube). The ...
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81 views

Question about Lens distortion

Suppose I have a 240x180 camera with the following distortion co-efficients, $$k_1 = -0.138592767408$$ $$k_2=0.0933736664192$$ $$k_3=0.0$$ $$p_1=k_4=-0.000335586987532$$ $$p_2=k_5=0.000173720158228$$ ...
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Accuracy of monocular visual-inertial odometry

I am currently considering to use monocular visual-inertial odometry to localize a smartphone relative to a known object. Now, what I would like to understand, is what kind of accuracy I can expect ...
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1answer
352 views

Trigger two usb cameras at the same time

I'm studyng stereo cameras, and I want to build one. I searched a lot in internet, and the opinions are quite different about this topic. Basically, my question is: Can I synchronize two usb ...
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141 views

How to do IMU and camera “sensor fusion” tracking?

I have some 50ms latency cameras at hand and a 800Hz IMU (gyro+accelerometer+magnetometer). I would like to know how exactly how I should do a sensor fusion of such an IMU and camera to fix the ...
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95 views

Robot localization using sensor fusion (How to model the Extended Kalman Filter)?

I am new to the robotics field and sensor fusion as well. I am trying to localize my robot using the data from my camera and the odometery through extended Kalman filter. I have the data offline, I ...
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71 views

Vısual sensor.camera lenses with a field of view of more than 180 degree

What kind of camera models can be used for lenses with a field of view of more than 180 degree ? Is ıt possible if not why? Are fisheye lenses suitable for this purpose?
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Algorithm for orientation (pan/tilt) towards a moving point

Main Question: note: The code in this question is pseudo-code, I'm using Python, but my pseudo-code is a mix of Python and C++. I have a camera on the top of my robot's "head" which has pan and tilt ...
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what's the difference among rgb-d camera, depth camera, 3d camera, and stereo camera?

I'm very new in this field so my question may be very stupid. I apologize for this at first. I'm trying to use a proper camera to run a SLAM algorithm. As suggested by some people, stereo camera may ...
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118 views

Extrinsic Calibration Target Depth Camera

What's a good calibration object for the extrinsic calibration (rotation + translation) of a depth camera (no color sensor, only depth)? With RGB, people seem to typically use chessboard pattern or ...