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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Clark, D.E. Ivekovič, S. |
| Copyright Year | 2010 |
| Description | Author affiliation: R. Soc. of Edinburgh, Edinburgh, UK (Ivekovič, S.) || Joint Res. Inst. in Signal & Image Process., Heriot-Watt Univ., Edinburgh, UK (Clark, D.E.) |
| Abstract | It is well known that any 3-D state estimate computed from stereo camera measurements is corrupted by heteroscedastic noise due to the nature of the perspective projection. It is also well understood that the image measurements used to estimate the 3-D state are inherently noisy. Despite the wealth of research in this area, the accurate statistical characterisation of the uncertainty for any 3D state estimation from stereo algorithm is less well understood. This paper presents the Cramer-Rao Lower Bound (CRLB) for 3-dimensional state estimation from a rectified stereo pair of cameras. The paper also presents a method for efficient stereo estimation via Bayesian triangulation that achieves the CRLB. These results provide a basis for 3D statistical estimation for camera-based sensor measurements. |
| Sponsorship | ISIF |
| Starting Page | 1 |
| Ending Page | 8 |
| File Size | 338400 |
| Page Count | 8 |
| File Format | |
| e-ISBN | 9780982443811 |
| DOI | 10.1109/ICIF.2010.5712095 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2010-07-26 |
| Publisher Place | UK |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Cameras Estimation Bayesian methods Solid modeling Noise Stereo image processing Rectified Stereo Cameras Cramer-Rao Lower Bound Bayesian Triangulation 3-D State Estimation |
| Content Type | Text |
| Resource Type | Article |
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