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

Haiquan Yang | Zendy; Nobuyuki Kita | Zendy; Yasuyo Kita | Zendy

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

Author(s) -

Haiquan Yang,

Nobuyuki Kita,

Yasuyo Kita

Publication year - 2003

Publication title -

journal of robotics and mechatronics

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.257

H-Index - 19

eISSN - 1883-8049

pISSN - 0915-3942

DOI - 10.20965/jrm.2003.p0293

Subject(s) - computer vision , artificial intelligence , lens (geology) , position (finance) , computer science , camera lens , field of view , head (geology) , camera resectioning , camera auto calibration , pose , optics , physics , geology , finance , geomorphology , economics

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.

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