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Camera pose estimation with moving Aruco-board. : Retrieving camera pose in a stereo camera tolling system application. / Kamerapositionskalibrering med Aruco-tavla i rörelse.

Stereo camera systems can be utilized for different applications such as position estimation,distance measuring, and 3d modelling. However, this requires the cameras to be calibrated.This paper proposes a traditional calibration solution with Aruco-markers mounted on avehicle to estimate the pose of a stereo camera system in a tolling environment. Our method isbased on Perspective N Point which presumes the intrinsic matrix to be already known. Thegoal is to find each camera’s pose by identifying the marker corners in pixel coordinates aswell as in world coordinates. Our tests show a worst-case error of 21.5 cm and a potential forcentimetre accuracy. It also verifies validity by testing the obtained pose estimation live in thecamera system. The paper concludes that the method has potential for higher accuracy notobtained in our experiment due to several factors. Further work would focus on enlarging themarkers and widening the distance between the markers.

Identiferoai:union.ndltd.org:UPSALLA1/oai:DiVA.org:hj-51076
Date January 2020
CreatorsIsaksson, Jakob, Magnusson, Lucas
PublisherTekniska Högskolan, JTH, Datateknik och informatik, Tekniska Högskolan, JTH, Datateknik och informatik
Source SetsDiVA Archive at Upsalla University
LanguageEnglish
Detected LanguageEnglish
TypeStudent thesis, info:eu-repo/semantics/bachelorThesis, text
Formatapplication/pdf
Rightsinfo:eu-repo/semantics/openAccess

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