Camera self-calibration technique for vision system in front for teleoperation system based on pointing rotation

Camera self-calibration technique for vision system in front for teleoperation system based on pointing rotation is an effective method. The problem that the calibration object can not be put in front of the camera, when the teleoperation is going on and the camera parameters need to be modified can be solved by using the self-calibration. The theoretic of self-calibration was analyzed firstly, correlative examination was done secondly. In the testing process, the camera was fixed on the rotation device. The scale invariant feature transformation (SIFT) was used to solve the problem of the feature points detection and matching, and the Newton method was used to calculate. Another camera calibration method was used to calibrate the same camera, and compared with the self-calibration. The corner point of the calibration plane was detected by using the Harris corner detector. The result of the two methods is similar, so the self-calibration is effectual.