Stereo Camera Re-Calibration and the Impact of Pixel Location Uncertainty

Abstract

This report presents an algorithm for the re-calibration of a stereo camera system mounted on an autonomous vehicle. The algorithm employs feature-based matching in combination with an iterative approach to estimating the fundamental matrix with the RANdom SAmple Consensus (RANSAC) paradigm followed by a constrained nonlinear estimate. Simulations indicate that stereo camera re-calibration is possible with the algorithm and the accuracy of the process depends on the amount of uncertainty in the pixel location of corresponding left and right image points. Future work will be directed at improving the accuracy of determining corresponding points.

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Document Details

Document Type
Technical Report
Publication Date
May 01, 2003
Accession Number
ADA415369

Entities

People

  • William F. Oberle

Organizations

  • United States Army Research Laboratory

Tags

Communities of Interest

  • Air Platforms
  • Autonomy
  • Weapons Technologies

DTIC Thesaurus Topics

  • Accuracy
  • Algorithms
  • Calibration
  • Cameras
  • Coordinate Systems
  • Data Science
  • Data Sets
  • Detectors
  • Information Science
  • Measurement
  • Military Research
  • Regression Analysis
  • Statistical Algorithms
  • Stereo Cameras
  • Three Dimensional
  • Two Dimensional
  • Unmanned Ground Vehicles

Readers

  • Computer Vision.
  • Fluid Dynamics.

Technology Areas

  • Autonomy