A Non-Iterative Algorithm to Determine Camera Position and Orientation

2012 ◽  
Vol 500 ◽  
pp. 409-415 ◽  
Author(s):  
Huai En Zeng ◽  
Qing Lin Yi ◽  
Yi Zheng
Keyword(s):  
Pose Estimation ◽  
Basic Research ◽  
Mathematic Model ◽  
Research Subject ◽  
Camera Orientation ◽  
Camera Position ◽  
Explicit Formulae ◽  
Position And Orientation ◽  
Gibbs Vector

Determination of Camera position and orientation is a basic research subject in photogrammetry and computer vision. This paper introduces a new explicit approach to determine the camera-point distances based on the computer algebraic software of Matlab, then derives the basic mathematic model of pose estimation, and puts forward the analytical calculus of rotation matrix based on the Gibbs vector or Rodrigues matrix, finally presents explicit formulae of camera orientation and position. A simulative case is studied, and the result shows the presented algorithm is correct and efficient for arbitrary pose angles image.

Vision Based 3D Tracking and Pose Estimation for Mixed Reality

2011 ◽  
pp. 1-22 ◽  
Author(s):  
Pascal Fua ◽  
Vincent Lepetit
Keyword(s):  
Pose Estimation ◽  
Degrees Of Freedom ◽  
Mixed Reality ◽  
Low Cost ◽  
3D Tracking ◽  
Robust Algorithms ◽  
Six Degrees Of Freedom ◽  
Non Invasive ◽  
Camera Position ◽  
Position And Orientation

Mixed Reality applications require accurate knowledge of the relative positions of the camera and the scene. When either of them moves, this means keeping track in real-time of all six degrees of freedom that define the camera position and orientation relative to the scene, or, equivalently, the 3D displacement of an object relative to the camera. Many technologies have been tried to achieve this goal. However, Computer Vision is the only one that has the potential to yield non-invasive, accurate and low-cost solutions to this problem, provided that one is willing to invest the effort required to develop sufficiently robust algorithms. In this chapter, we therefore discuss some of the most promising approaches, their strengths, and their weaknesses.

scholarly journals Camera and inertial sensor fusion for the PnP problem: algorithms and experimental results

2021 ◽  
Vol 32 (4) ◽  
Author(s):  
Luigi D’Alfonso ◽  
Emanuele Garone ◽  
Pietro Muraca ◽  
Paolo Pugliese
Keyword(s):  
Pose Estimation ◽  
Good Accuracy ◽  
Inertial Sensor ◽  
Experimental Tests ◽  
Inertial Measurement Units ◽  
Magnetic Vector ◽  
Inertial Measurement ◽  
The Earth ◽  
Measurement Units ◽  
Position And Orientation

AbstractIn this work, we face the problem of estimating the relative position and orientation of a camera and an object, when they are both equipped with inertial measurement units (IMUs), and the object exhibits a set of n landmark points with known coordinates (the so-called Pose estimation or PnP Problem). We present two algorithms that, fusing the information provided by the camera and the IMUs, solve the PnP problem with good accuracy. These algorithms only use the measurements given by IMUs’ inclinometers, as the magnetometers usually give inaccurate estimates of the Earth magnetic vector. The effectiveness of the proposed methods is assessed by numerical simulations and experimental tests. The results of the tests are compared with the most recent methods proposed in the literature.

scholarly journals Impacts of stochastic models on real-time 3D UAV mapping

2014 ◽  
Vol XL-1 ◽  
pp. 35-44
Author(s):  
M. Alqurashi ◽  
J. Wang
Keyword(s):  
Stochastic Model ◽  
Real Time ◽  
Stochastic Models ◽  
Feature Matching ◽  
Critical Role ◽  
Image Feature ◽  
Mapping Process ◽  
Camera Orientation ◽  
Camera Position

In UAV mapping using direct geo-referencing, the formation of stochastic model generally takes into the account the different types of measurements required to estimate the 3D coordinates of the feature points. Such measurements include image tie point coordinate measurements, camera position measurements and camera orientation measurements. In the commonly used stochastic model, it is commonly assumed that all tie point measurements have the same variance. In fact, these assumptions are not always realistic and thus, can lead to biased 3D feature coordinates. Tie point measurements for different image feature objects may not have the same accuracy due to the facts that the geometric distribution of features, particularly their feature matching conditions are different. More importantly, the accuracies of the geo-referencing measurements should also be considered into the mapping process. In this paper, impacts of typical stochastic models on the UAV mapping are investigated. It has been demonstrated that the quality of the geo-referencing measurements plays a critical role in real-time UAV mapping scenarios.

scholarly journals Methodic tools to optimize marketing expenses of the innovatively active industrial enterprises in Ukraine

2016 ◽  
Vol 14 (1) ◽  
pp. 44-50 ◽  
Author(s):  
Oleg Olefirenko
Keyword(s):  
Mathematic Model ◽  
Machine Building ◽  
Practical Implementation ◽  
Industrial Enterprises ◽  
Managerial Decisions ◽  
Production Distribution ◽  
Market Situation ◽  
The Given ◽  
Rational Process

The efficient sales policy of the machine building innovatively active enterprises is connected with its rational process financing. Optimal determination of innovative production distribution expenses is top-priority element to increase economic subject’s activity profitability and to increase its competitive positions at the market. Thus, planning of costs for innovatively active machine building enterprises sales has to be based on economic and rationally adaptive mathematic tools to industrial enterprises activity specific. Practical implementation of the mentioned task is possible owing to economic and mathematic model to plan costs for innovatively active enterprises production, which preconditions urgency of the given research. Besides the tools investigation is also urgent and it allows to foresee future expenses amounts for sales, demand for production and profit of the innovatively active industrial enterprise, behavior in future depending on market situation. The article deals with scientific and methodic approach to optimize distribution expenses of the innovatively active industrial enterprises in Ukraine. Economic and mathematic modeling methods allowed to formalize models to plan distribution expenses of innovatively active enterprise, demand and profits, that is prerequisite to form prognostications by proper directions. Practical implementation of the suggested scientific and methodic approach on the example of machine building enterprise in Ukraine results in confirmation of models correspondence and establishment of inefficiency to distinguish expenses. It gives evidence about necessity to optimize expenses of enterprise and to introduce active managerial decisions concerning its activity profitability growth

scholarly journals EVALUATION OF MONITORING HYPERTENSION CASE BASED ON NINE SURVEILLANCE ATTRIBUTES IN JOMBANG DISTRICT HEALTH OFFICE IN 2018

2021 ◽  
Vol 16 (1) ◽  
pp. 89
Author(s):  
Dewi Lestari
Keyword(s):  
Evaluation Method ◽  
Qualitative Evaluation ◽  
Noncommunicable Diseases ◽  
Research Subject ◽  
District Health Office ◽  
District Health ◽  
Data Collection Technique ◽  
Reported Data ◽  
Primary Healthcare Centers

Hypertension is still a global problem, therefore, even affecting the citizens of Indonesia. Among 10 most common diseases in Jombang regency, hypertension was ranked second in 2017. One of the efforts in overcoming hypertension was by monitoring hypertension cases through Noncommunicable Diseases (NCD) surveillance system strengthening. However, the completeness of the MSS hypertension reports in Jombang region was low.The purpose of this study was to evaluate the monitoring of hypertension cases based on surveillance attributes in the Jombang District Health Office throughout 2018. This study was conducted using the qualitative evaluation method. The research subject was NCD surveillance, specifically in monitoring hypertension cases in the Jombang District Health Office. The determination of the informants used purposive sampling. The research informants consist of NCD officers in Jombang District Health Office, and NCD officers in 2 selected primary healthcare centers. The data collection technique used interview guidelines and document observation where data analysis was performed descriptively. The results show in the assessment of surveillance attributes of simplicity, acceptability, positive predictive value, data quality, and stability the results were low. While, flexibility, sensitivity, representativeness, and timeliness cannot be assessed. The conclusion was that the assessment of the surveillance attributes was quite good, but there are still obstacles in its implementation, namely incomplete reports, no attendance records, and so on. This study suggests to implement attendance records in each unit allowing the reported data to be used for planning in preventing hypertension.Keywords: evaluation, hypertention, surveillance attribute.

Closed-Form Determination of the Location of a Rigid Body by Seven In-Parallel Linear Transducers

1996 ◽  
Author(s):  
Carlo Innocenti
Keyword(s):  
Rigid Body ◽  
Linear Equations ◽  
Parallel Manipulators ◽  
Rigid Bodies ◽  
Body Location ◽  
Position And Orientation ◽  
General Geometry ◽  
Two Bodies

Abstract The paper presents an original analytic procedure for unambiguously determining the relative position and orientation (location) of two rigid bodies based on the readings from seven linear transducers. Each transducer connects two points arbitrarily chosen on the two bodies. The sought-for rigid-body location simply results by solving linear equations. The proposed procedure is suitable for implementation in control of fully-parallel manipulators with general geometry. A numerical example shows application of the reported results to a case study.

scholarly journals Camera Calibration for Coastal Monitoring Using Available Snapshot Images

2020 ◽  
Vol 12 (11) ◽  
pp. 1840 ◽  
Author(s):  
Gonzalo Simarro ◽  
Daniel Calvete ◽  
Paola Souto ◽  
Jorge Guillén
Keyword(s):  
Laboratory Data ◽  
Ground Control ◽  
Control Points ◽  
Coastal Monitoring ◽  
Ground Control Points ◽  
Camera Position ◽  
Overall Performance ◽  
Position And Orientation ◽  
Monitoring Practice

Joint intrinsic and extrinsic calibration from a single snapshot is a common requirement in coastal monitoring practice. This work analyzes the influence of different aspects, such as the distribution of Ground Control Points (GCPs) or the image obliquity, on the quality of the calibration for two different mathematical models (one being a simplification of the other). The performance of the two models is assessed using extensive laboratory data (i.e., snapshots of a grid). While both models are able to properly adjust the GCPs, the simpler model gives a better overall performance when the GCPs are not well distributed over the image. Furthermore, the simpler model allows for better recovery of the camera position and orientation.

scholarly journals The Structure and Function of the DNA from Bacteriophage Lambda

1966 ◽  
Vol 49 (6) ◽  
pp. 29-57 ◽  
Author(s):  
David S. Hogness
Keyword(s):  
Early Gene ◽  
Second Step ◽  
Wild Type ◽  
Gene Orientation ◽  
Variant Gene ◽  
Position And Orientation ◽  
The Right ◽  
And Function ◽  
Lambda Dna

The position and orientation of genes in lambda and lambda dg DNA are described. The position of six genes located in the right half of isolated lambda DNA was found to be -(N, iλ)--O-P---Q-R-(right end of DNA), which is their order on the genetic map of the vegetative phage. The order of the three genes of the galactose operon (k, t, and e) located in the left half of lambda dg DNA was found to be (left end of DNA)----k-t-e-, consistent with Campbell's model (5) for the formation of this variant. Gene orientation, defined as the direction of transcription along the DNA, is inferred to be from right to left for the galactose operon in lambda dg DNA. The strand of lambda DNA which functions as template in transcription of N, an "early" gene required for normal replication of lambda DNA, was determined as a first step in ascertaining the orientation of this gene. The method includes isolation of each strand, formation of each of two heteroduplex molecules consisting of one strand from wild-type and one from an N mutant) and comparison of their N activities. The second step, which consists of ascertaining the 5'-to-3' direction of each strand, is discussed, as is a determination of the orientation of gene R.

Slopes and slope processes

1996 ◽  
Vol 20 (4) ◽  
pp. 453-465 ◽  
Author(s):  
Robert J. Allison
Keyword(s):  
Dynamic Equilibrium ◽  
Mass Movement ◽  
Basic Research ◽  
Temporal Variations ◽  
Physical Geography ◽  
Abundant Evidence ◽  
Terrain Unit ◽  
Trigger Mechanisms ◽  
Real World Problems

Despite suggestions (see Wolman, 1995, for example) that problem-solving in physical geography relies increasingly on interactions between research and application, there is abundant evidence in hillslope studies of research focused on both real-world problems and aimed at generating new knowledge. A study of mass movement patterns (Flagollet, 1996) illustrates application, by examining hazard associated with spatial and temporal variations in landslide activity. Understanding the principle of dynamic equilibrium is, on the other hand, examined and verified using quantitative DEM data (Chandler and Brunsden, 1995) from sequential air photographs for a landslide complex at Black Ven, Dorset, UK. Some studies crosscut applied and basic research. Hazard assessment is one example, where Crozier (1996) uses past temporal records to address magnitude, fre quency and risk issues through the determination of trigger mechanisms and thresholds, rather than simply ranking terrain unit hazard susceptibility.

Research on 3D Visualization of Underground Antique Tomb Based on Augmented Reality

2013 ◽  
Vol 336-338 ◽  
pp. 1434-1438 ◽  
Author(s):  
Yong Chang ◽  
Wen Peng Xu ◽  
Lei Wang
Keyword(s):  
Computer Vision ◽  
Augmented Reality ◽  
3D Model ◽  
3D Visualization ◽  
Outdoor Environment ◽  
3D Registration ◽  
Camera Position ◽  
Position And Orientation ◽  
To Receive ◽  
Electronic Compass

This paper researches on 3D visualization of underground antique tomb based on Augmented Reality .At first,this paper established 3D model of antique tomb with OpenGL in VC++6.0. In order to establish augmented reality 3D model of antique tomb, the OpenGL model of antique tomb was transferred into ARToolKit and realized 3D augmented reality visualization in ARToolKit. As ARToolKit uses computer vision techniques to calculate the real camera position and orientation relative to marked cards,so it is difficult to provide AR applications in outdoor environment. At last, this paper puts forth a new method to allow ARtoolkit to receive the data of GPS and 3D electronic compass, so it can make 3D registration with both computer vision and sensors.

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