Simplified Vehicle Calibration Using Multilinear Constraints
An Autonomously Guided Vehicle using both odometry and visual data for navigation needs calibration parameters. These include camera placement as well as parameters relating odometry to vehicle motion. Calibration of these parameters is related to the Hand-Eye calibration problem. Instead of using a calibration target or trying to solve for structure and motion a novel method using the continuous multilinear constraint to test parameter combinations is proposed. A low order polynomial target function is calculated in linear time over the sample size resulting in very fast iterations in the optimisation step.
The method is tested on simulated data and increased sample size improves the parameter estimates.
- 1.O. Faugeras and B. Mourrain. On the geometry and algebra of the point and line correspondences between n images. In Proc. 5th Int. Conf. on Computer Vision, MIT, Boston, MA, pages 951–956, 1995.Google Scholar
- 2.G. H. Golub and C. F. Van Loan. Matrix Computations. Johns Hopkins University Press, 1996.Google Scholar
- 3.A. Heyden and K. Åström. A canonical framework for sequences of images. In Proc. IEEE workshop on Representation of Visual Scenes, MIT, Cambridge, MA, USA, pages 45–52, 1995.Google Scholar
- 4.H. Malm and A. Heyden. Hand-eye calibration from image derivatives. In Proc. 6th European Conf. on Computer Vision, Dublin, Ireland, volume 2, pages 493–507, June 2000.Google Scholar
- 5.M. Oskarsson. One-dimensional retina vision with applications in structure and motion estimation. Licentiate thesis, Centre for Mathematical Sciences, Lund Institute of Technology, Sweden, 2000.Google Scholar
- 6.H. Stewenius. Homepage. http://www.maths.lth.se/matematiklth/personal/stewe/.Google Scholar
- 7.H. Stewenius. Studies in mobile camera calibration. Licentiate thesis, Centre for Mathematical Sciences, Lund Institute of Technology, Sweden, 2003.Google Scholar
- 8.B. Triggs. Matching constraints and the joint image. In Proc. ICCV’95, pages 338–343. IEEE Computer Society Press, 1995.Google Scholar