Position and Pose Estimation of Camera-Head with Foveated Wide Angle Lens

Haiquan Yang; Nobuyuki Kita; Yasuyo Kita

doi:10.20965/jrm.2003.p0293

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JRM Vol.15 No.3 pp. 293-303

doi: 10.20965/jrm.2003.p0293

(2003)

Paper:

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Position and Pose Estimation of Camera-Head with Foveated Wide Angle Lens

Haiquan Yang, Nobuyuki Kita, and Yasuyo Kita

National Institute of Advanced Industrial Science and Technology, Tsukuba Central 2, Tsukuba, 305-8568 Japan

Received:

December 3, 2002

Accepted:

March 10, 2003

Published:

June 20, 2003

Keywords:

alignment, registration, 3D model, distortion

Abstract

A method is proposed to correct the initial position and pose estimates of a camera-head by aligning a 3D model of its surrounding environment with an observed 2D image that is captured by a foveated wideangle lens in the camera. Because of the wide field of view of the lens, the algorithm can converge even when the initial error is large, and the precision of the result is high since the resolution of the fovea of the lens is high.

Cite this article as:

H. Yang, N. Kita, and Y. Kita, “Position and Pose Estimation of Camera-Head with Foveated Wide Angle Lens,” J. Robot. Mechatron., Vol.15 No.3, pp. 293-303, 2003.

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