Calibration of a stationary camera system for detecting the position of a mobile robot

摘要

The invention relates to a method for calibrating a stationary camera system (1) for detecting the position of a mobile robot (2), wherein the robot (2) is movable on a surface (3) and has at least one directional marker (4), wherein the camera system ( 1) one or more cameras (5) for at least partially detecting the surface (3) on each image plane, wherein at least a first camera (5) has a tilt sensor for detecting a pitch angle and a roll angle, with the steps a) providing at least one Camera (5) with an internal calibration b) Performing an external calibration by performing the substepsi. Choosing a fixing position above the surface (3) ii. Determination of the pitch angle and the roll angle of the viewing direction iii. Determining the camera height (6) above the directional marker (4) of the robot (2) iv. Determining a coordinate system based on the viewing direction and position of the first camera (5); v. Determining an imaging function for imaging a pixel of the image plane of the first camera (5) onto a point on the surface (3) .vi. Determining the position of the robot (2) in the surface (3) by detecting at least a first point of the directional marker (4) .vii. Determining the orientation of the robot (2) in the surface (3) by detecting at least a second point of the directional marker (4) with respect to the coordinate system.