In Defense of the Eight-Point Algorithm
IEEE Transactions on Pattern Analysis and Machine Intelligence
Multiple view geometry in computer vision
Multiple view geometry in computer vision
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A stereo vision Linear Triangulation (LT) algorithm canbe utilized in space robotics assembly operations. TheLT algorithm recovers the relative orientation andtranslation (pose) of objects marked with high contrasttargets using two or more pinhole charge-coupleddevice (CCD) cameras. The cameras view a set(including a disjoint set) of targets measured withrespect to the same point in space. This study evaluatesthe theoretical accuracy of the LT algorithm, its benefitsand performance. The introduction of a third camerainto the vision system envelope is also examined anddiscussed. Experiments indicated that most accuracy inpose estimation is gained by the first 15-25 degrees ofcamera separation, and then the decrease in values ofthe covariance matrix elements stabilizes. We comparethe numerical data for singe, two-camera and three-cameracases using extensive experiments on simulated images.