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

Author Affiliations +

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, Shengyi Chen, Haibo Liu, Haibo Liu, Linshen Yao, Linshen Yao, Qifeng Yu, 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); doi: 10.1117/12.2246047; https://doi.org/10.1117/12.2246047

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