3-D position sensing using a passive monocular vision system
Cardillo, J.
Sid-Ahmed, M.A.
Dept. of Electr. Eng., Windsor Univ., Ont.;
This paper appears in: Pattern Analysis and Machine Intelligence, IEEE Transactions on
Publication Date: Aug 1991
Volume: 13,
Issue: 8
On page(s): 809-813
ISSN: 0162-8828
References Cited: 7
CODEN: ITPIDJ
INSPEC Accession Number: 4034322
Digital Object Identifier: 10.1109/34.85671
Current Version Published: 2002-08-06
Abstract
Passive monocular 3-D position sensing is made possible by a new
calibration scheme that relates depth to focus blur through a composite
lens and aperture model. The calibration technique enables the recovery
of absolute 3-D position coordinates from image coordinates and measured
focus blur. A geometric model of the camera's position and orientation
in space is used to transform the camera's imaging coordinates into
world coordinates. The relationship between the world coordinate system
and the screen coordinate system which includes the amount of focus
blur, is developed by modeling the camera imaging arrangement. The
modeling proceeds first through the perspective view from a pinhole
camera located anywhere in space. The camera's lens and aperture system
is investigated to find the relationship between depth and focus blur.
The aspect ratio of the frame image is considered. Position accuracies
comparable to those in stereo based vision systems are possible without
the need for solving the difficult point of correspondence problem
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