DEVELOPMENT OF A MULTI CAMERA CALIBRATION FOR AN ANALYSIS AND MANIPULATION SYSTEM OF BIOLOGICAL SAMPLES IN PETRI DISHES

Abstract. Cameras can provide accurate 3D positioning for a robotic system. Calibration of interior orientation as well as the relative orientation when using multiple cameras is a necessary step. Integration of the automatic calibration process into the robot system is useful to provide a simple system for the user. The paper presents a method for calibrating a multi camera system using the open source Ceres solver and compares it to a commercial software. The motivation is a measurement system for laboratory automation where biological samples in Petri dishes will be manipulated with different tools. For this application we will examine the camera setup, show first results of the calibration and the possible accuracy. Lastly we will draw conclusions for the final system prototype and necessary improvements to be implemented in order to provide accurate measurements.