Euclidean Position Estimation of Static Features using a Moving Uncalibrated Camera


Nath N., Dawson D. M. , Tatlicioglu E.

IEEE International Conference on Systems, Man and Cybernetics, San-Antonio, Kuzey Mariana Adaları, 11 - 14 Ekim 2009, ss.4438-4439 identifier identifier

  • Cilt numarası:
  • Doi Numarası: 10.1109/icsmc.2009.5346924
  • Basıldığı Şehir: San-Antonio
  • Basıldığı Ülke: Kuzey Mariana Adaları
  • Sayfa Sayıları: ss.4438-4439

Özet

In this paper, a novel Euclidean position estimation technique using a single uncalibrated camera mounted on a moving platform is developed to asymptotically recover the three-dimensional (3D) Euclidean position of static object features. The position of the moving platform is assumed to be measurable, and a second object with known 3D Euclidean coordinates relative to the world frame is considered to be available a priori. To account for the unknown camera calibration parameters and to estimate the unknown 3D Euclidean coordinates, an adaptive least squares estimation strategy is employed based on prediction error formulations and a Lyapunov-type stability analysis. The developed estimator is proven to recover the 3D Euclidean position of the unknown object features despite the lack of knowledge of the camera calibration parameters.