scholarly journals Planar Motion Bundle Adjustment

2019 ◽  
Author(s):  
Marcus Örnhag ◽  
Mårten Wadenbäck
Keyword(s):  
Bundle Adjustment ◽  
Planar Motion

Distributed Bundle Adjustment in 3D Scene Reconstruction with

2012 ◽  
Vol 38 (9) ◽  
pp. 1428 ◽  
Author(s):  
Xin LIU ◽  
Feng-Mei SUN ◽  
Zhan-Yi HU
Keyword(s):  
Bundle Adjustment ◽  
Scene Reconstruction ◽  
3D Scene ◽  
3D Scene Reconstruction

scholarly journals A High-Precision Registration Technology Based on Bundle Adjustment in Structured Light Scanning System

2014 ◽  
Vol 2014 ◽  
pp. 1-9 ◽  
Author(s):  
Jianying Yuan ◽  
Qiong Wang ◽  
Xiaoliang Jiang ◽  
Bailin Li
Keyword(s):  
High Precision ◽  
Large Scale ◽  
Structured Light ◽  
Bundle Adjustment ◽  
Scanning System ◽  
Control Points ◽  
Registration Method ◽  
Global Control ◽  
3D Data ◽  
Structured Light Scanning

The multiview 3D data registration precision will decrease with the increasing number of registrations when measuring a large scale object using structured light scanning. In this paper, we propose a high-precision registration method based on multiple view geometry theory in order to solve this problem. First, a multiview network is constructed during the scanning process. The bundle adjustment method from digital close range photogrammetry is used to optimize the multiview network to obtain high-precision global control points. After that, the 3D data under each local coordinate of each scan are registered with the global control points. The method overcomes the error accumulation in the traditional registration process and reduces the time consumption of the following 3D data global optimization. The multiview 3D scan registration precision and efficiency are increased. Experiments verify the effectiveness of the proposed algorithm.

A compact motion controller-based planar motion mechanism for captive manoeuvring tests

2021 ◽  
Vol 220 ◽  
pp. 108195
Author(s):  
M. Cansın Özden ◽  
Sertaç Kurdoğlu ◽  
Ersin Demir ◽  
Kadir Sarıöz ◽  
Ömer Gören
Keyword(s):  
Planar Motion ◽  
Motion Controller ◽  
Motion Mechanism ◽  
Planar Motion Mechanism

scholarly journals Optimization-Based Online Initialization and Calibration of Monocular Visual-Inertial Odometry Considering Spatial-Temporal Constraints

Sensors ◽  
2021 ◽  
Vol 21 (8) ◽  
pp. 2673
Author(s):  
Weibo Huang ◽  
Weiwei Wan ◽  
Hong Liu
Keyword(s):  
Measurement Data ◽  
Calibration Method ◽  
Bundle Adjustment ◽  
Measurement Unit ◽  
Temporal Parameters ◽  
Work Routine ◽  
Initial States ◽  
Time Offset ◽  
Public Datasets ◽  
Metric Scale

The online system state initialization and simultaneous spatial-temporal calibration are critical for monocular Visual-Inertial Odometry (VIO) since these parameters are either not well provided or even unknown. Although impressive performance has been achieved, most of the existing methods are designed for filter-based VIOs. For the optimization-based VIOs, there is not much online spatial-temporal calibration method in the literature. In this paper, we propose an optimization-based online initialization and spatial-temporal calibration method for VIO. The method does not need any prior knowledge about spatial and temporal configurations. It estimates the initial states of metric-scale, velocity, gravity, Inertial Measurement Unit (IMU) biases, and calibrates the coordinate transformation and time offsets between the camera and IMU sensors. The work routine of the method is as follows. First, it uses a time offset model and two short-term motion interpolation algorithms to align and interpolate the camera and IMU measurement data. Then, the aligned and interpolated results are sent to an incremental estimator to estimate the initial states and the spatial–temporal parameters. After that, a bundle adjustment is additionally included to improve the accuracy of the estimated results. Experiments using both synthetic and public datasets are performed to examine the performance of the proposed method. The results show that both the initial states and the spatial-temporal parameters can be well estimated. The method outperforms other contemporary methods used for comparison.

scholarly journals Extrinsic Camera Calibration with Line-Laser Projection

Sensors ◽  
2021 ◽  
Vol 21 (4) ◽  
pp. 1091
Author(s):  
Izaak Van Crombrugge ◽  
Rudi Penne ◽  
Steve Vanlanduit
Keyword(s):  
Camera Calibration ◽  
Real World ◽  
Large Scale ◽  
State Of The Art ◽  
Bundle Adjustment ◽  
Field Of View ◽  
Extrinsic Calibration ◽  
Practical Procedure ◽  
Partial Overlap

Knowledge of precise camera poses is vital for multi-camera setups. Camera intrinsics can be obtained for each camera separately in lab conditions. For fixed multi-camera setups, the extrinsic calibration can only be done in situ. Usually, some markers are used, like checkerboards, requiring some level of overlap between cameras. In this work, we propose a method for cases with little or no overlap. Laser lines are projected on a plane (e.g., floor or wall) using a laser line projector. The pose of the plane and cameras is then optimized using bundle adjustment to match the lines seen by the cameras. To find the extrinsic calibration, only a partial overlap between the laser lines and the field of view of the cameras is needed. Real-world experiments were conducted both with and without overlapping fields of view, resulting in rotation errors below 0.5°. We show that the accuracy is comparable to other state-of-the-art methods while offering a more practical procedure. The method can also be used in large-scale applications and can be fully automated.

The Curvature Theory of Line Trajectories in Spatial Kinematics

1981 ◽  
Vol 103 (4) ◽  
pp. 718-724 ◽  
Author(s):  
J. M. McCarthy ◽  
B. Roth
Keyword(s):  
Planar Motion ◽  
Spatial Motion ◽  
Third Order ◽  
Local Shape ◽  
The Third ◽  
Moving Body ◽  
Physical Representation ◽  
Curvature Theory ◽  
Spatial Kinematics ◽  
Differential Properties

This paper develops the differential properties of ruled surfaces in a form which is applicable to spatial kinematics. Derivations are presented for the three curvature parameters which define the local shape of a ruled surface. Related parameters are also developed which allow a physical representation of this shape as generated by a cylindric-cylindric crank. These curvature parameters are then used to define all the lines in the moving body which instantaneously generate speciality shaped trajectories. Such lines may be used in the synthesis of spatial motions in the same way that the points on the inflection circle and cubic of stationary curvature are used to synthesize planar motion. As an example of this application several special sets of lines are defined: the locus of all lines which for a general spatial motion instantaneously generate helicoids to the second order and the locus of lines generating right hyperboloids to the third order.

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