An OGM-Based Visual Navigation System with Reduced Homographies and Accurate Computations for Mobile Robots

Table 2

Camera calibration results: number of pixels per grid-element.

No.	No.	No.	No.
Grid	Pixels	Grid	Pixels
1	107045	23	5166
2	47852	24	3382
3	26077	25	3587
4	27100	26	3608
5	26206	27	3706
6	15574	28	3660
7	15759	29	3659
8	15635	30	3553
9	10396	31	3021
10	10295	32	2714
11	10344	33	2874
12	10658	34	3165
13	10764	35	3090
14	6576	36	2781
15	7046	37	2793
16	7042	38	2033
17	6969	39	2356
18	6862	40	2486
19	5430	41	2288
20	5468	42	2027
21	5431	43	1974
22	5386	44	2034