A novel closed-form solution for automatic calibration of extrinsic parameters based on plane-induced homography

The extrinsic calibration of the camera is an important task for deploying an autonomous device. This paper proposes a novel method for the estimation of the six degrees of freedom extrinsic parameters in a camera-robot system, in which the plane-induced Homography between two camera images is employed. The characteristics of the eigenvalues and eigenvectors in the Homography are firstly investigated and identified supposing the robot performs a known translation motion. Then a closed-form solution for rotation matrix can be achieved from the eigenvectors and so is the translation vector in the extrinsic parameters. Three simulation experiments are performed to validate the correctness, accuracy and robustness. Besides, one real data experiment is implemented on our robot platform. For comparison, two recently reported algorithms are carried out under similar settings. The experimental results of means and standard deviations for those parameters demonstrate that the proposed solution can provide satisfactory performance.