A canonical framework for sequences of images
VSR '95 Proceedings of the IEEE Workshop on Representation of Visual Scenes
On the geometry and algebra of the point and line correspondences between N images
ICCV '95 Proceedings of the Fifth International Conference on Computer Vision
Matching constraints and the joint image
ICCV '95 Proceedings of the Fifth International Conference on Computer Vision
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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.