International Journal of Computer Theory and Engineering

Abstract—Camera calibration in an outdoor environment often relies on natural landmarks, and algorithms that are computational expensive. This paper presents a fast camera calibration method that uses robots themselves as landmarks to each other. The active landmark made of LEDs, mounted on the robots, can be turned on/off through available wireless link. Experimental measurements and validation were conducted using a low-resolution, low-computation power smart camera, the CMUcam3 camera. The experimental results show that the estimates of the intrinsic camera parameters converge to the correct values as the robot moves and more measurements are used.