Journal ArticleDOI
A flexible new technique for camera calibration
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TLDR
A flexible technique to easily calibrate a camera that only requires the camera to observe a planar pattern shown at a few (at least two) different orientations is proposed and advances 3D computer vision one more step from laboratory environments to real world use.Abstract:
We propose a flexible technique to easily calibrate a camera. It only requires the camera to observe a planar pattern shown at a few (at least two) different orientations. Either the camera or the planar pattern can be freely moved. The motion need not be known. Radial lens distortion is modeled. The proposed procedure consists of a closed-form solution, followed by a nonlinear refinement based on the maximum likelihood criterion. Both computer simulation and real data have been used to test the proposed technique and very good results have been obtained. Compared with classical techniques which use expensive equipment such as two or three orthogonal planes, the proposed technique is easy to use and flexible. It advances 3D computer vision one more step from laboratory environments to real world use.read more
Citations
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Journal ArticleDOI
An Onboard Monocular Vision System for Autonomous Takeoff, Hovering and Landing of a Micro Aerial Vehicle
TL;DR: The efficiency of the presented monocular vision system is demonstrated comprehensively by comparing it to ground truth data provided by a tracking system and by using its pose estimates as control inputs to autonomous flights of a quadrotor.
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Sensor and Sensor Fusion Technology in Autonomous Vehicles: A Review
TL;DR: In this article, the authors provide an end-to-end review of the hardware and software methods required for sensor fusion object detection in autonomous driving applications. And they conclude by highlighting some of the challenges in the sensor fusion field and propose possible future research directions for automated driving systems.
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Vision-based control of robotic manipulator for citrus harvesting
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Journal ArticleDOI
Computer-Aided Classification of Gastrointestinal Lesions in Regular Colonoscopy
Pablo Mesejo,Daniel Pizarro,Armand Abergel,Olivier Rouquette,Sylvain Beorchia,Laurent Poincloux,Adrien Bartoli +6 more
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References
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Journal ArticleDOI
A versatile camera calibration technique for high-accuracy 3D machine vision metrology using off-the-shelf TV cameras and lenses
TL;DR: In this paper, a two-stage technique for 3D camera calibration using TV cameras and lenses is described, aimed at efficient computation of camera external position and orientation relative to object reference coordinate system as well as the effective focal length, radial lens distortion, and image scanning parameters.
Book
A versatile camera calibration technique for high-accuracy 3D machine vision metrology using off-the-shelf TV cameras and lenses
TL;DR: A new technique for three-dimensional camera calibration for machine vision metrology using off-the-shelf TV cameras and lenses using two-stage technique has advantage in terms of accuracy, speed, and versatility over existing state of the art.
Proceedings Article
Three-dimensional computer vision: a geometric viewpoint
TL;DR: Results from constrained optimization some results from algebraic geometry differential geometry are shown.