000K  utf8
1100  $c2015
1500  eng
2050  urn:nbn:de:gbv:8:1-zs-00000304-a8
3000  Esquivel, Sandro
4000  Eye-to-Eye Calibration$dExtrinsic Calibration of Multi-Camera Systems Using Hand-Eye Calibration Methods$hChristian-Albrechts-Universität zu Kiel  [Esquivel, Sandro]
4000  Eye-to-Eye Calibration$dExtrinsische Kalibrierung von Mehrkamerasystemen mittels Hand-Auge-Kalibrierverfahren$hChristian-Albrechts-Universität zu Kiel  [Esquivel, Sandro]
4030  Kiel$nChristian-Albrechts-Universität zu Kiel
4209  The problem addressed in this thesis is the extrinsic calibration of embedded multi-camera systems without overlapping views, i. e., to determine the positions and orientations of rigidly coupled cameras with respect to a common coordinate frame from captured images. Such camera systems are of increasing interest for computer vision applications due to their large combined field of view, providing practical use for visual navigation and 3d scene reconstruction. However, in order to propagate observations from one camera to another, the parameters of the coordinate transformation between both cameras have to be determined accurately. Classical methods for extrinsic camera calibration relying on spatial correspondences between images cannot be applied here.The central topic of this work is an analysis of methods based on hand-eye calibration that exploit constraints of rigidly coupled motions to solve this problem from visual camera ego-motion estimation only, without need for additional sensors for pose tracking such as inertial measurement units or vehicle odometry. The resulting extrinsic calibration methods are referred to as eye-to-eye calibration. We provide solutions based on pose measurements (geometric eye-to-eye calibration), decoupling the actual pose estimation from the extrinsic calibration, and solutions based on images measurements (visual eye-to-eye calibration), integrating both steps within a general Structure from Motion framework. Specific solutions are also proposed for critical motion configurations such as planar motion which often occurs in vehicle-based applications.
4950  https://nbn-resolving.org/urn:nbn:de:gbv:8:1-zs-00000304-a8$xR$3Volltext$534
4961  https://macau.uni-kiel.de/receive/macau_mods_00002247
5051  004
5550  3D reconstruction
5550  3D-Szenenrekonstruktion
5550  Bündelblockausgleichung
5550  bundle adjustment
5550  camera calibration
5550  computer vision
5550  Computer Vision
5550  Hand-Auge-Kalibrierung
5550  hand-eye calibration
5550  Kamerakalibrierung
5550  Photogrammetrie
5550  photogrammetry
5550  Structure from Motion
5550  Structure from Motion