During the development and testing phases of ego-motion estimation algorithms for robotics applications, such as Visual Odometry (VO) or visual SLAM, a ground truth trajectory is needed in order to evaluate their performances. Nowadays motion capture systems can reach millimetric accuracy thus they are a practical and accurate solution to give camera referencing trajectory during the acquisitions of datasets and evaluation benchmarks. In practice, it is particularly difficult to make the tracked frame coincident with the camera optical frame, thus a calibration procedure is needed to estimate this transformation and achieve the millimetric accuracy required for robotic exploration missions, like scientific site mapping, or satellite relative navigation. In this work we present a calibration procedure to estimate the transformation between the reference frame tracked by a motion capture system and the optical reference frame of a stereo camera. Moreover, we perform an uncertainty analysis of the adopted method and thanks to the experimental set-up we show its ability to reach a millimeter accuracy.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Camera Rig Extrinsic Calibration Using a Motion Capture System


    Beteiligte:


    Erscheinungsdatum :

    01.06.2018


    Format / Umfang :

    1474375 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Extrinsic calibration of camera systems

    NATROSHVILI KOBA / SCHOLL KAY-ULRICH | Europäisches Patentamt | 2020

    Freier Zugriff

    EXTRINSIC CALIBRATION OF CAMERA SYSTEMS

    NATROSHVILI KOBA / SCHOLL KAY-ULRICH | Europäisches Patentamt | 2019

    Freier Zugriff

    Extrinsic Camera Calibration with Semantic Segmentation

    Tsaregorodtsev, Alexander / Muller, Johannes / Strohbeck, Jan et al. | IEEE | 2022


    AIRCRAFT CAMERA EXTRINSIC CALIBRATION USING HEAD-UP DISPLAY

    LAHR WESTON J / RADEMAKER RICHARD M / BOGGS CHRISTOPHER M | Europäisches Patentamt | 2023

    Freier Zugriff

    LiDAR-Camera System Automatic Extrinsic Calibration in Rail Transit

    Wu, Qian / Zhang, Jin / Sheng, Jie et al. | IEEE | 2022