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首页> 外文会议>Proceedings of the Institute of Navigation 2012 international technical meeting >Precise Output Error Characterization for Triangulation of Visual Landmarks from Two Views with Noisy Camera Pose
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Precise Output Error Characterization for Triangulation of Visual Landmarks from Two Views with Noisy Camera Pose

机译：带有嘈杂相机姿势的两个视图中的视觉地标三角测量的精确输出误差表征

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摘要

We present a least-squares formulation of the mid-pointrnmethod of triangulation. We then present a comparison ofrnthree methods of camera triangulation from two viewsrnsubject to errors in camera pose and calibration: DirectrnLinear Triangulation, Hartley-Zisserman Optimal method,rnand the mid-point method. From this comparison werndetermine that the mid-point method performs close to thernoptimal method and due to its simplicity is best-suited forrnerror characterization. Triangulation error and errorrncovariance is estimated by propagating camera position,rnattitude, and pixel registration errors through a first-orderrnTaylor expansion of the closed-form least-squaresrnalgorithm. The performance of the covariance estimator isrnevaluated and found to be a reliable estimate forrnreasonable levels of Euler angle error.
机译：我们提出了三角剖分的中点法的最小二乘公式。然后，我们从三种角度对三种相机三角剖分方法进行了比较：受到相机姿态和校准误差的影响：DirectrnLinear三角剖分，Hartley-Zisserman最优方法和中点法。通过该比较，我们确定中点方法的性能接近最佳方法，并且由于其简单性，它是最适合误差误差的表征。三角剖分误差和误差协方差是通过传播照相机位置，纬度和像素配准误差来估计的，该误差是通过闭合形式的最小二乘算法的一阶Taylor展开来实现的。重新评估协方差估计器的性能，发现它是合理的欧拉角误差水平的可靠估计。

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