Simplified vehicle calibration using multilinear constraints
(2003) 13th Scandinavian Conference, SCIA 2003 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.
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/301730
- author
- Stewenius, Henrik LU
- organization
- publishing date
- 2003
- type
- Chapter in Book/Report/Conference proceeding
- publication status
- published
- subject
- host publication
- Lecture Notes in Computer Science (Image Analysis, Proceedings)
- volume
- 2749
- pages
- 669 - 676
- publisher
- Springer
- conference name
- 13th Scandinavian Conference, SCIA 2003
- conference location
- Halmstad, Sweden
- conference dates
- 2003-06-29 - 2003-07-02
- 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
- 2016-04-01 12:37:21
- date last changed
- 2024-01-09 03:00:22
@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}}, url = {{http://www.springerlink.com/content/9ej32lum3pfg/}}, volume = {{2749}}, year = {{2003}}, }