Practical camera and colour calibration for large rooms

Jacky Baltes*

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

11 Citations (Scopus)


This paper describes a practical method for calibrating the geometry and colour information for cameras surveying large rooms. To calibrate the geometry, we use a semi-automatic system to assign real world to pixel coordinates. This information is the input to the Tsai camera calibration method. Our system uses a two stage process in which easily recognizable objects (squares) are used to sort the individual data points and to nd missing objects. Fine object features (corners) are used in a second step to determine the object’s real world coordinates. An empirical evaluation of the system shows that the average and maximum errors are suffciently small for our domain. Objects are recognized through coloured spots. The colour calibration uses six thresholds (Three colour ranges (Red, Green, and Blue) and three colour differences (Red-Green, Red - Blue, Green - Blue)). This paper describes a fast threshold comparison routine.

Original languageEnglish
Title of host publicationRoboCup-99
Subtitle of host publicationRobot Soccer World Cup III
EditorsManuela Veloso, Enrico Pagello, Hiroaki Kitano
PublisherSpringer Verlag
Number of pages14
ISBN (Print)9783540410430
Publication statusPublished - 2000
Externally publishedYes
Event3rd Robot World Cup Soccer Games and Conferences, RoboCup 1999 - Stockholm, Sweden
Duration: 1999 Jul 271999 Aug 6

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349


Other3rd Robot World Cup Soccer Games and Conferences, RoboCup 1999

ASJC Scopus subject areas

  • Theoretical Computer Science
  • General Computer Science


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