NDLI: A self-calibration approach to extrinsic parameter estimation of stereo cameras

Content Provider	IEEE Xplore Digital Library
Author	Hanqi Zhuang
Copyright Year	1994
Description	Author affiliation: Dept. of Electr. Eng., Florida Atlantic Univ., Boca Raton, FL, USA (Hanqi Zhuang)
Abstract	A self-calibration technique is proposed in this paper to estimate extrinsic parameters of a stereo camera system. This technique does not require external 3D measurements of precision calibration points. Furthermore, it is conceptually simple and easy to implement. It has applications in such areas as autonomous vehicle navigation, robotics and computer vision. The proposed approach relies solely on distance measurements of a fixed-length object, say a stick. While the object is moved in the 3D space, the image coordinates of the object end points are extracted from the image sequence. A cost function that relates unknown parameters to measurement residuals is formulated. A nonlinear least squares algorithm is then applied to compute the parameters by minimizing the cost function, using the measured image coordinates and the known length of the object. Simulation studies in this papers answer questions such as the number of iterations needed for the algorithm to converge, the number of measurements needed for a robust estimation, singularity cases, and noise sensitivities of the algorithm.
Starting Page	3428
Ending Page	3433
File Size	517170
Page Count	6
File Format	PDF
ISBN	0818653302
DOI	10.1109/ROBOT.1994.351043
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1994-05-08
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Parameter estimation Robot vision systems Cost function Stereo vision Cameras Calibration Application software Remotely operated vehicles Mobile robots Navigation
Content Type	Text
Resource Type	Article

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