Developing a perception system for
applications of planetary intervention and for others which
require accurate 3D measurements.
- The binocular stereovision has been chosen for its robustness.
- Metric reconstruction of the environment is necessary.
- The calibration must be performed on site. (but how ?)
- fast; points of reference known with
very high precision
- Difficult to bring them into operation for space
Chosen solution: calibration apparatus mounted on the vehicle
- Independent calibration for each camera
This leads to the deterioration of the estimation of the epipolar geometry.
- Calibration only valid for a limited work volume
near the apparatus's position
This leads to the deterioration of the calibration
performance when we move away.
Key Ideas of Our Technique:
- Reinforce the epipolar constraint
- by using matches between the cameras
- Enlarge the validity volume of the calibration
- by using data from both calibration apparatus and the environment
(This is possible because the cameras are rigidly attached to each other.)
Author: Zhengyou Zhang
Last modified: Wed Oct 23 13:46:06 MET DST