Precise output error characterization for triangulation of visual landmarks from two views with noisy camera pose

Justin Gorgen, Lee Lemay, Demoz Gebre-Egziabher

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

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.

Original languageEnglish (US)
Title of host publicationInstitute of Navigation International Technical Meeting 2012, ITM 2012
Pages1014-1088
Number of pages75
StatePublished - Jul 27 2012
EventInstitute of Navigation International Technical Meeting 2012, ITM 2012 - Newport Beach, CA, United States
Duration: Jan 30 2012Feb 1 2012

Publication series

NameInstitute of Navigation International Technical Meeting 2012, ITM 2012
Volume2

Other

OtherInstitute of Navigation International Technical Meeting 2012, ITM 2012
CountryUnited States
CityNewport Beach, CA
Period1/30/122/1/12

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    Gorgen, J., Lemay, L., & Gebre-Egziabher, D. (2012). Precise output error characterization for triangulation of visual landmarks from two views with noisy camera pose. In Institute of Navigation International Technical Meeting 2012, ITM 2012 (pp. 1014-1088). (Institute of Navigation International Technical Meeting 2012, ITM 2012; Vol. 2).