In this paper we present a self-calibration approach that updates the extrinsic parameters and the focal lengths of a stereo vision sensor. We employ a recursive estimation algorithm based on an Extended Kalman Filter. To improve the self-calibration process, we introduce a robust innovation stage for the Kalman filter: A Least Median Squares estimator is employed to eliminate outliers and thus to achieve better performance. The algorithm gives promising results on experiments with synthetic and natural imagery.
Stereo calibration in vehicles
01.01.2004
670743 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
Stereo Calibration in Vehicles
British Library Conference Proceedings | 2004
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