In this paper, we present the extrinsic self-calibration of an active stereo rig with independently moving cameras. The proposed self-calibration recovers all extrinsic parameters up to scale and accounts for mechanical inaccuracies in the camera setup. Our algorithm is based on two criteria: the minimization of the reprojection error of tracked image points and the epipolar constraint. The self-calibration is implemented as a robust Iterated Extended Kalman Filter to allow continuous operation. Special care is taken to minimize physically relevant geometric errors instead of algebraic cost functions. The proposed algorithm is evaluated on synthetic and real-life imagery and allows initial extrinsic calibration as well as continuous tracking of the stereo camera parameters.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Self-calibration for Active Automotive Stereo Vision


    Contributors:
    Thao Dang, (author) / Hoffmann, C. (author) / Stiller, C. (author)


    Publication date :

    2006-01-01


    Size :

    6393888 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Self-calibration for Active Automotive Stereo Vision

    Dang, T. / Hoffmann, C. / Stiller, C. | British Library Conference Proceedings | 2006


    Robot Calibration using stereo vision

    Chen, Shoupu | TIBKAT | 1987


    Sensing of Automotive Environments Using Stereo Vision

    Bertozzi, M. / Broggi, A. / Colla, D. et al. | British Library Conference Proceedings | 1997


    Sensing of automotive environments using stereo vision

    Bertozzi,M. / Broggi,A. / Colla,D. et al. | Automotive engineering | 1997


    Active/dynamic stereo vision

    Grosso, Enrico / Tistarelli, Massimo | BASE | 1995

    Free access