TY - GEN
T1 - Precise output error characterization for triangulation of visual landmarks from two views with noisy camera pose
AU - Gorgen, Justin
AU - Lemay, Lee
AU - Gebre-Egziabher, Demoz
PY - 2012/7/27
Y1 - 2012/7/27
N2 - We present a least-squares formulation of the mid-point method of triangulation. We then present a comparison of three methods of camera triangulation from two views subject to errors in camera pose and calibration: Direct Linear Triangulation, Hartley-Zisserman Optimal method, and the mid-point method. From this comparison we determine that the mid-point method performs close to the optimal method and due to its simplicity is best-suited for error characterization. Triangulation error and error covariance is estimated by propagating camera position, attitude, and pixel registration errors through a first-order Taylor expansion of the closed-form least-squares algorithm. The performance of the covariance estimator is evaluated and found to be a reliable estimate for reasonable levels of Euler angle error.
AB - We present a least-squares formulation of the mid-point method of triangulation. We then present a comparison of three methods of camera triangulation from two views subject to errors in camera pose and calibration: Direct Linear Triangulation, Hartley-Zisserman Optimal method, and the mid-point method. From this comparison we determine that the mid-point method performs close to the optimal method and due to its simplicity is best-suited for error characterization. Triangulation error and error covariance is estimated by propagating camera position, attitude, and pixel registration errors through a first-order Taylor expansion of the closed-form least-squares algorithm. The performance of the covariance estimator is evaluated and found to be a reliable estimate for reasonable levels of Euler angle error.
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M3 - Conference contribution
AN - SCOPUS:84864133752
SN - 9781618399205
T3 - Institute of Navigation International Technical Meeting 2012, ITM 2012
SP - 1014
EP - 1088
BT - Institute of Navigation International Technical Meeting 2012, ITM 2012
T2 - Institute of Navigation International Technical Meeting 2012, ITM 2012
Y2 - 30 January 2012 through 1 February 2012
ER -