Infrared Stereo Calibration for Unmanned Ground Vehicle Navigation

Abstract

The problem of calibrating two color cameras as a stereo pair has been heavily researched and many o -the-shelf software packages, such as Robot Operating System and OpenCV, include calibration routines that work in most cases. However, the problem of calibrating two infrared \201IR\202 cameras for the purposes of sensor fusion and point could generation is relatively new and many challenges exist. We present a comparison of color camera and IR camera stereo calibration using data from an unmanned ground vehicle. There are two main challenges in IR stereo calibration; the calibration board \201material, design, etc.\202 and the accuracy of calibration pattern detection. We present our analysis of these challenges along with our IR stereo calibration methodology. Finally we present our results both visually and analytically with computed reprojection errors.

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Document Details

Document Type
Technical Report
Publication Date
May 01, 2014
Accession Number
ADA607968

Entities

People

  • Josh Harguess
  • Shawn Strange

Organizations

  • Naval Information Warfare Systems Command

Tags

Communities of Interest

  • Autonomy
  • Sensors

DTIC Thesaurus Topics

  • Accuracy
  • Autonomous Navigation
  • Cognitive Systems Engineering
  • Composite Materials
  • Department Of Homeland Security
  • Detection
  • Errors
  • Ground Vehicles
  • Materials
  • Navigation
  • Operating Systems
  • Stereo Cameras
  • Three Dimensional
  • Unmanned
  • Unmanned Ground Systems
  • Unmanned Ground Vehicles
  • Unmanned Vehicles

Fields of Study

  • Computer science

Readers

  • Astronomy and Astrophysics.
  • Computer Vision.
  • Software Engineering.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • AI & ML - Bayesian Inference
  • Autonomy