Accession Number:

ADA465582

Title:

Euclidean Position Estimation of Static Features using a Moving Camera with Known Velocities

Descriptive Note:

Technical rept.

Corporate Author:

CLEMSON UNIV SC DEPT OF ELECTRICAL AND COMPUTER ENGINEERING

Report Date:

2007-03-09

Pagination or Media Count:

11.0

Abstract:

The estimation of 3D Euclidean coordinates of features from 2D images is a problem of significant interest. In this paper we develop a 3D Euclidean position estimation strategy for a static object using a single moving camera whose motion is known. The Euclidean depth estimator which is developed has a very simple mathematical structure and is easy to implement. Numerical simulations and preliminary experimental results using a mobile robot in an indoor environment are presented to illustrate the performance of the algorithm. An extension of this estimation technique for a paracatadioptric system is also presented.

Subject Categories:

  • Cybernetics
  • Numerical Mathematics

Distribution Statement:

APPROVED FOR PUBLIC RELEASE