Simultaneous Vision System Calibration and Full-motion Estimation Using a Sequence of Noisy Images from a Stereo Affine Cameras

被引：0
|
作者：
Santos, Carlos A. [1 ]
Costa, Carlos O. [1 ,2 ]
Batista, Jorge P. [3 ]
机构：
[1] Natl Lab Civil Engn, Sci Instrumentat Ctr, Av Brasil 101, P-1700066 Lisbon, Portugal
[2] Sci Instrumentat Ctr, Natl Lab Civil Engn, Lisbon, Portugal
[3] Univ Coimbra, Dept Elect Engn & Comp, Coimbra, Portugal
来源：
2012 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) | 2012年
关键词：
DISPLACEMENT;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The paper describes a kinematic model-based solution to estimate simultaneously the calibration parameters of the vision system and the full-motion of an object using a sequence of noisy images captured by a set of stereo affine cameras. Assuming a smooth motion, an Iterated Extended Kalman Filter (IEKF) is used to recursively estimate the cameras projection matrices and the object's full-motion over time. The estimator was developed having in mind the structure health monitoring of large structures of civil engineering domain, observed at long distance, in particular, of long deck suspension bridges. Results related to the performance evaluation, obtained by numerical simulation and with real experiments, are reported.
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页码：732 / 739
页数：8
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