Three-Dimensional Stereo Reconstruction and Sensor Registration With Application to the Development of a Multi-Sensor Database

Abstract

This report discusses efforts undertaken at the U.S. Army Research Laboratory (ARL), which support research in robotic perception. The efforts include collaborative work with the National Institute of Standards and Technology to develop a multi-sensor (laser radar LADAR, navigation and stereoscopic video (stereo) database with ground truth for use by the robotics research community. ARL's efforts are focused on stereo. The report documents procedures for determining the transformations between the cameras of the stereo system and the transformations between the camera system and other sensor, vehicle, and world coordinate systems. Results indicate that the measured stereo and ladar data are susceptible to large errors that affect the accuracy of the calculated transformations.

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Document Details

Document Type
Technical Report
Publication Date
Dec 01, 2002
Accession Number
ADA410118

Entities

People

  • Gary A. Haas
  • William F. Oberle

Organizations

  • United States Army Research Laboratory

Tags

Communities of Interest

  • Air Platforms
  • Sensors
  • Weapons Technologies

DTIC Thesaurus Topics

  • Accuracy
  • Collision Avoidance
  • Computer Graphics
  • Coordinate Systems
  • Databases
  • Detectors
  • Errors
  • Geometry
  • Image Processing
  • Information Science
  • Jet Propulsion
  • Laser Radar
  • Robotics
  • Standards
  • Three Dimensional
  • Two Dimensional
  • Unmanned Ground Vehicles

Readers

  • Computer Vision.
  • Sensor Fusion and Tracking Systems.
  • Technical Research and Report Writing.

Technology Areas

  • AI & ML
  • Autonomy
  • Directed Energy