Empirical evaluation of a calibration chart detector

Abstract. In this paper, we systematically assess the performance of an automatic calibration chart detector. Through simulation we establish the optimal set of control parameters and the rate of successful detection as a function of pose. We validate the simulation results on real images taken from a camera mounted on a robot arm. The results confirm the utility of such simulation studies. The feedback obtained suggested a number of modifications for the chart detection system, which led to a significant improvement in performance. In particular, the chart design was changed to accommodate wider range and better stability in detection.

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