Accession Number:

ADA415369

Title:

Stereo Camera Re-Calibration and the Impact of Pixel Location Uncertainty

Descriptive Note:

Final rept.

Corporate Author:

ARMY RESEARCH LAB ABERDEEN PROVING GROUND MD

Personal Author(s):

Report Date:

2003-05-01

Pagination or Media Count:

39.0

Abstract:

This report presents an algorithm for the re-calibration of a stereo camera system mounted on an autonomous vehicle. The algorithm employs feature-based matching in combination with an iterative approach to estimating the fundamental matrix with the RANdom SAmple Consensus RANSAC paradigm followed by a constrained nonlinear estimate. Simulations indicate that stereo camera re-calibration is possible with the algorithm and the accuracy of the process depends on the amount of uncertainty in the pixel location of corresponding left and right image points. Future work will be directed at improving the accuracy of determining corresponding points.

Subject Categories:

  • Photography
  • Optics

Distribution Statement:

APPROVED FOR PUBLIC RELEASE