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Proceedings Paper

3D measurement and camera attitude estimation method based on trifocal tensor
Author(s): Shengyi Chen; Haibo Liu; Linshen Yao; Qifeng Yu
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Paper Abstract

To simultaneously perform 3D measurement and camera attitude estimation, an efficient and robust method based on trifocal tensor is proposed in this paper, which only employs the intrinsic parameters and positions of three cameras. The initial trifocal tensor is obtained by using heteroscedastic errors-in-variables (HEIV) estimator and the initial relative poses of the three cameras is acquired by decomposing the tensor. Further the initial attitude of the cameras is obtained with knowledge of the three cameras’ positions. Then the camera attitude and the interested points’ image positions are optimized according to the constraint of trifocal tensor with the HEIV method. Finally the spatial positions of the points are obtained by using intersection measurement method. Both simulation and real image experiment results suggest that the proposed method achieves the same precision of the Bundle Adjustment (BA) method but be more efficient.

Paper Details

Date Published: 24 November 2016
PDF: 9 pages
Proc. SPIE 10023, Optical Metrology and Inspection for Industrial Applications IV, 100231Q (24 November 2016); doi: 10.1117/12.2246047
Show Author Affiliations
Shengyi Chen, National Univ. of Defense Technology (China)
Haibo Liu, National Univ. of Defense Technology (China)
Linshen Yao, National Univ. of Defense Technology (China)
Qifeng Yu, National Univ. of Defense Technology (China)


Published in SPIE Proceedings Vol. 10023:
Optical Metrology and Inspection for Industrial Applications IV
Sen Han; Toru Yoshizawa; Song Zhang, Editor(s)

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