Accession Number ADA559309
Title Algorithm for Triangulating Visual Landmarks and Determining Their Covariance.
Publication Date Jan 2012
Media Count 40p
Personal Author J. Gorgen L. LeMay
Abstract We present a least squares method for triangulating a landmark location given the bearing towards it from two known locations. For the three- dimentional case, this method is shown to be equivalent to finding the mid- point method of triangulation. This method is then extended to triangulating three-dimensional coordinates for visual landmark from two calibrated images of the landmark taken from known camera locations. 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 solution. The performance of the covariance estimator is evaluated and found to be a reliable estimate except in the presencse of large camera attitude errors. The error estimate is accurate for camera Euler angle errors with standard deviations of less than 5 degrees.
Keywords Accuracy
Algorithms
Calibration
Covariance
Error covariance
Least squares method
Navigation reference
Reliability
Standard deviation
Three dimensional
Triangulation


 
Source Agency Non Paid ADAS
NTIS Subject Category 48I - Cartography
72B - Algebra, Analysis, Geometry, & Mathematical Logic
76 - Navigation, Guidance, & Control
82B - Photographic Techniques & Equipment
Corporate Author Space and Naval Warfare Systems Command, San Diego, CA.
Document Type Technical report
Title Note Final rept.
NTIS Issue Number 1219
Contract Number N/A

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