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Simplified Vehicle Calibration Using Multilinear Constraints

  • H. Stewenius
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 2749)

Abstract

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.

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Copyright information

© Springer-Verlag Berlin Heidelberg 2003

Authors and Affiliations

  • H. Stewenius
    • 1
  1. 1.Centre for Mathematical SciencesLund Institute of TechnologyLundSweden

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