How do you calibrate the distance map for the omnidirectioal vision?

Question

Last year, we bought 6 omni-mirrors from your team(TU/e). Now we are trying to use these mirrors in our new developed robots. From your codes, we  find the equation:   real_distance = para_a*tan(para_b*pixel_distance). The real_distance is the actual distance between the robot and the object, and the pixel_distance is the pixel distance of them.How do you get two parameters para_a and para_b? Could you give us some advices about calibrating the omnidirectional vision using your mirror?Thank you!

Answer 1

Dear Chengshuai,

Your question has been forwarded to the person responsible for the vision software. You can expect an answer at the end of this week.

Answer 2

In the early years of our team a couple of our team members have published a paper which covers this topic: http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=4389288 Have a look especially at section IV - B, since that's where the mirror calibration is explained. 

 

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