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Proceedings Paper

Measuring The Orientation Of Lines And Surfaces Using Translation Invariant Stereo
Author(s): Lawrence B. Wolff
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Paper Abstract

Accuracy of geometric measurement of object environments for robotic vision tasks is of increasing importance as these tasks become more sophisticated. The precision of the measurement of the position and orientation of objects in space is highly dependent upon the accurate calibration of a number of physical parameters for imaging cameras. Some recent articles have shown that for two camera stereo triangulation methods to work in practical situations that severe mechanical positioning constraints must be placed on the pair of cameras. The current practice for most stereo based methods is to build up descriptions of how objects occupy space from point data whose absolute positions in space have been measured. In particular, errors in orientation measurement of surfaces can be badly compounded by errors in absolute mesurement of multiple points that lie on the surface. This paper analyzes a stereo method which determines lines in space from the intersection of projected planar sheets. Object descriptions are built up from information about linear features instead of by points. It is shown that there are major advantages to accurately determining the orientation of object lines and surfaces using this stereo method. In the absence of errors apart from baseline translation error the measurement of the orientation of lines and surfaces from this stereo method is translation invariant in the sense that the orientation measurement is completely independent of knowledge of the baseline. Computer simulations of realistic imaging configurations show that even in the presence of errors from other camera parameters that this stereo method is nearly translation invariant and can far outperform stereo methods for the measurement of orientation based upon the absolute correspondence of points. Another advantage of determining the orientation of lines and surfaces from stereo using intersecting planes is that orientation errors do not grow rapidly as the object distance from the baseline increases. This is true for orientation measurement from stereo using the absolute correspondence of points.

Paper Details

Date Published: 5 January 1989
PDF: 7 pages
Proc. SPIE 1003, Sensor Fusion: Spatial Reasoning and Scene Interpretation, (5 January 1989); doi: 10.1117/12.948923
Show Author Affiliations
Lawrence B. Wolff, Columbia University (United States)

Published in SPIE Proceedings Vol. 1003:
Sensor Fusion: Spatial Reasoning and Scene Interpretation
Paul S. Schenker, Editor(s)

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