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.


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    Titel :

    Stereo calibration in vehicles


    Beteiligte:
    Dang, T. (Autor:in) / Hoffmann, C. (Autor:in)


    Erscheinungsdatum :

    01.01.2004


    Format / Umfang :

    670743 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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