Euclidean position estimation of static features using a moving uncalibrated camera
Bildiriler > Tam Metin Bildiri · 2009
Yazarlar: Nitendra Nath, Darren M. Dawson, Enver TATLICIOĞLU
IEEE International Conference on Systems, Man, and Cybernetics, Amerika Birleşik Devletleri, San Antonio, TX, Uluslararası, Sözlü Sunum, Tam Metin Bildiri, 2009-2009, ss 4438-4443
DOI: 10.1109/ICSMC.2009.5346924
Özet
In this paper, a novel Euclidean position estimation technique using a single uncalibrated camera mounted on a moving platform is developed to asymptotically recover the three-dimensional (3D) Euclidean position of static object features. The position of the moving platform is assumed to be measurable, and a second object with known 3D Euclidean coordinates relative to the world frame is considered to be available a priori. To account for the unknown camera calibration parameters and to estimate the unknown 3D Euclidean coordinates, an adaptive least squares estimation strategy is employed based on prediction error formulations and a Lyapunov-type stability analysis. The developed estimator is proven to recover the 3D Euclidean position of the unknown object features despite the lack of knowledge of the camera calibration parameters. ©2009 IEEE.