3D measurement and camera attitude estimation method based on trifocal tensor

Shengyi Chen; Haibo Liu; Linshen Yao; Qifeng Yu

doi:10.1117/12.2246047

24 November 2016 3D measurement and camera attitude estimation method based on trifocal tensor

Shengyi Chen, Haibo Liu, Linshen Yao, Qifeng Yu

Proceedings Volume 10023, Optical Metrology and Inspection for Industrial Applications IV; 100231Q (2016) https://doi.org/10.1117/12.2246047
Event: SPIE/COS Photonics Asia, 2016, Beijing, China

Abstract

To simultaneously perform 3D measurement and camera attitude estimation, an efficient and robust method based on trifocal tensor is proposed in this paper, which only employs the intrinsic parameters and positions of three cameras. The initial trifocal tensor is obtained by using heteroscedastic errors-in-variables (HEIV) estimator and the initial relative poses of the three cameras is acquired by decomposing the tensor. Further the initial attitude of the cameras is obtained with knowledge of the three cameras’ positions. Then the camera attitude and the interested points’ image positions are optimized according to the constraint of trifocal tensor with the HEIV method. Finally the spatial positions of the points are obtained by using intersection measurement method. Both simulation and real image experiment results suggest that the proposed method achieves the same precision of the Bundle Adjustment (BA) method but be more efficient.

Citation Download Citation

Shengyi Chen, Haibo Liu, Linshen Yao, and Qifeng Yu "3D measurement and camera attitude estimation method based on trifocal tensor", Proc. SPIE 10023, Optical Metrology and Inspection for Industrial Applications IV, 100231Q (24 November 2016); https://doi.org/10.1117/12.2246047

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available

Members: $17.00

Non-members: $21.00 ADD TO CART

PROCEEDINGS
9 PAGES

DOWNLOAD PAPER SAVE TO MY LIBRARY

GET CITATION

RIGHTS & PERMISSIONS

Get copyright permission Get copyright permission on Copyright Marketplace

KEYWORDS

Cameras

Calibration

Matrices

3D metrology

Error analysis

Stereoscopic cameras

Imaging systems

Show All Keywords

Keywords/Phrases

Search In:

Publication Years