Robust 6DOF measurement for non-overlapping multi-camera systems based on uncertainty-weighted space resection

Zhiyuan Niu; Linghui Yang; Yongjie Ren; Jiarui Lin; Jigui Zhu

doi:10.1117/12.2550173

12 March 2020 Robust 6DOF measurement for non-overlapping multi-camera systems based on uncertainty-weighted space resection

Zhiyuan Niu, Linghui Yang, Yongjie Ren, Jiarui Lin, Jigui Zhu

Author Affiliations +

Proceedings Volume 11439, 2019 International Conference on Optical Instruments and Technology: Optoelectronic Measurement Technology and Systems; 114391I (2020) https://doi.org/10.1117/12.2550173
Event: 2019 International Conference on Optical Instruments and Technology, 2019, Beijing, China

Abstract

This paper introduces an improved 6DOF measurement method for the non-overlapping multi-camera systems. In contrast to the existing equal-weighted bundle adjustment methods, the proposed method assigns an uncertainty based weight to each of the non-overlapping cameras. The measurement uncertainty evaluation framework is established based on the implicit function theorem. The weight assignment criterion enables the camera in a better observation condition to provide stronger constraints. The 6DOF parameters are obtained by optimizing the uncertainty-weighted space resection model with the nonlinear squares solver. The experiment results demonstrate the robustness of the proposed method to cope with poor observation conditions.

Citation Download Citation

Zhiyuan Niu, Linghui Yang, Yongjie Ren, Jiarui Lin, and Jigui Zhu "Robust 6DOF measurement for non-overlapping multi-camera systems based on uncertainty-weighted space resection", Proc. SPIE 11439, 2019 International Conference on Optical Instruments and Technology: Optoelectronic Measurement Technology and Systems, 114391I (12 March 2020); https://doi.org/10.1117/12.2550173

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