Camera based motion tracking for data fusion in a landmine detection system
conference paper
We present a method, based on stereo vision, for estimating the position and orientation of the LOTUS platform and its sensors. The LOTUS platform was developed to demonstrate the capabilities of automated landmine detection. Motion of the platform and pose and position of its sensors have to be measured to relate different sensors observations accurately to each other. Techniques from camera calibration are used for sensor pose and position estimation. The platform motion is estimated from tracked features on the ground. A special estimator was developed to deal with problems related to estimating rotation from coplanar surface points. This estimator also uses weights in order to remove outlier points caused by tracking errors and other influences. Simulation experiments shows that the weights can safeguard the estimator against a limited amount of outliers. Experiments with real stereo images from the LOTUS platform show that the relative pose and position of sensor can be estimated with high accuracy. When combined with the ego-motion of the cameras the position of the sensors can be related to fixed points to the ground. The results show that the vision based approach provides more useful position estimates when compared to an odometry based approach.
Topics
TNO Identifier
237183
ISBN
0-7803-7705-2
Source title
Proceedings of the 20th IEEE Information and Measurement Technology Conference, 20 May 2003 through 22 May 2003, Vail, CO, Conference code: 61133
Pages
817-822
Files
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