Robust dynamic 3D motion estimation using landmarks

Wolfgang Poelzleitner; Michael Ulm

doi:10.1117/12.162129

22 October 1993 Robust dynamic 3D motion estimation using landmarks

Wolfgang Poelzleitner, Michael Ulm

Proceedings Volume 2067, Videometrics II; (1993) https://doi.org/10.1117/12.162129
Event: Optical Tools for Manufacturing and Advanced Automation, 1993, Boston, MA, United States

Abstract

This paper summarizes the results we have obtained in searching for an efficient, robust, but accurate method for the estimation of the camera (or spacecraft) position based on image measurements. Based on a sequence of images acquired with a moving camera, the task is to estimate the camera position (extrinsic calibration) from corresponding points (landmarks) in the various frames. Using the noisy estimate of the camera parameters, the 3D scene points can be reconstructed. In the paper we first describe a new calibration method, and show the improvements in terms of accuracy compared to known methods. The method is studied in an application to motion estimation for a spacecraft during the orbit and landing maneuvers.

Citation Download Citation

Wolfgang Poelzleitner and Michael Ulm "Robust dynamic 3D motion estimation using landmarks", Proc. SPIE 2067, Videometrics II, (22 October 1993); https://doi.org/10.1117/12.162129

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