Abstract
In a multi-camera system, based on Binocular vision, choosing the best camera combination is one of the effective ways to improve measurement accuracy. When multi-cameras layout and intrinsic parameters are fixed, the angle and the distance from cameras to object are two main factors influencing the pose measurement result. From the perspective of object’s observability and image resolution, the mathematic relation between measurement error and the angle, distance from cameras to object is derived which forms the weighting formula whose high value corresponds to the best camera combination. Comprehensive simulation is conducted, proving that the proposed method can decrease the measurement error by 55% compared with former methods, and even by 94% in some occasions.
This work was supported by NSF of China under the grant 61773264, 61922058, 61803261, 61801295, and the Oceanic Interdisciplinary Program of Shanghai Jiao Tong University(project number SL2020ZD206, SL2020MS010 and SL2020MS015).
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Acknowledgment
This work was supported by NSF of China under the grant 61773264, 61922058, 61803261, 61801295, and the Oceanic Interdisciplinary Program of Shanghai Jiao Tong University (project number SL2020ZD206, SL2020MS010 and SL2020MS015).
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Li, Y., Zhou, T., Yu, W., Li, Y. (2023). Weighting Strategy of Multi-camera System for Pose Measurement. In: Yan, L., Duan, H., Deng, Y. (eds) Advances in Guidance, Navigation and Control. ICGNC 2022. Lecture Notes in Electrical Engineering, vol 845. Springer, Singapore. https://doi.org/10.1007/978-981-19-6613-2_644
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DOI: https://doi.org/10.1007/978-981-19-6613-2_644
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