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Simplified vehicle calibration using multilinear constraints

Stewenius, Henrik LU (2003) 13th Scandinavian Conference, SCIA 2003 In Lecture Notes in Computer Science (Image Analysis, Proceedings) 2749. p.669-676
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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author
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
in
Lecture Notes in Computer Science (Image Analysis, Proceedings)
volume
2749
pages
669 - 676
publisher
Springer
conference name
13th Scandinavian Conference, SCIA 2003
external identifiers
  • wos:000185178400089
  • scopus:35248844645
ISSN
0302-9743
1611-3349
ISBN
978-3-540-40601-3
language
English
LU publication?
yes
id
26b6dc3f-8584-4703-8a01-4d33b323da94 (old id 301730)
alternative location
http://www.springerlink.com/content/9ej32lum3pfg/
date added to LUP
2007-09-22 12:47:06
date last changed
2018-05-29 09:23:40
@inproceedings{26b6dc3f-8584-4703-8a01-4d33b323da94,
  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.},
  author       = {Stewenius, Henrik},
  booktitle    = {Lecture Notes in Computer Science (Image Analysis, Proceedings)},
  isbn         = {978-3-540-40601-3},
  issn         = {0302-9743},
  language     = {eng},
  pages        = {669--676},
  publisher    = {Springer},
  title        = {Simplified vehicle calibration using multilinear constraints},
  volume       = {2749},
  year         = {2003},
}