Utilize este identificador para referenciar este registo: http://hdl.handle.net/10400.22/7274
Título: Calibration Method for Underwater Visual Ground-Truth System
Autor: Faria, André
Almeida, José
Dias, André
Martins, Alfredo
Silva, Eduardo
Palavras-chave: Autonomous underwater vehicles
Edge detection
Robot vision
Stereo image processing
Data: 2015
Editora: IEEE
Relatório da Série N.º: OCEANS;2015
Resumo: This work presents an automatic calibration method for a vision based external underwater ground-truth positioning system. These systems are a relevant tool in benchmarking and assessing the quality of research in underwater robotics applications. A stereo vision system can in suitable environments such as test tanks or in clear water conditions provide accurate position with low cost and flexible operation. In this work we present a two step extrinsic camera parameter calibration procedure in order to reduce the setup time and provide accurate results. The proposed method uses a planar homography decomposition in order to determine the relative camera poses and the determination of vanishing points of detected lines in the image to obtain the global pose of the stereo rig in the reference frame. This method was applied to our external vision based ground-truth at the INESC TEC/Robotics test tank. Results are presented in comparison with an precise calibration performed using points obtained from an accurate 3D LIDAR modelling of the environment.
URI: http://hdl.handle.net/10400.22/7274
DOI: 10.1109/OCEANS-Genova.2015.7271601
Versão do Editor: http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=7271601
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