Platform calibration of an omnidirectional vision system composed of a camera and a conical mirror
Autor(a) principal: | |
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Data de Publicação: | 2020 |
Outros Autores: | , , , |
Tipo de documento: | Artigo |
Idioma: | por |
Título da fonte: | Repositório Institucional da UNESP |
Texto Completo: | http://dx.doi.org/10.14393/rbcv72n2-50059 http://hdl.handle.net/11449/228918 |
Resumo: | Omnidirectional vision systems allow for a 360° imaging field and are applied in many areas of knowledge, including close range Photogrammetry. Obtaining reliable measurements, the Photogrammetry's goal, requires calibration of the system, a step in which the parameters of the mathematical models are estimated. The calibration of the system is divided into internal calibration and platform calibration. The main objective of this work is to perform the calibration of the platform of an omnidirectional vision system composed of a camera and a conical mirror. In the calibration of the platform we estimated the parameters that relate the imaging system to the georeferencing system, composed of a GNSS (Global Navigation Satellite System) receiver and an IMU (Inertial Measurement Unit). In the calibration of the platform the boresight angles of the IMU were estimated related to the cone reference and the lever arm of the vertex of the cone to the center of the GNSS antenna. The uncertainty in the estimation of the lever arm is at least 10 times less than the precision obtained with the GNSS receiver in kinematic mode, which indicates an adequate quality for the estimated value. Regarding the misalignment angles, the RMSE (Root Mean Square Error) was higher for the rotation angle kIMUCone, around 30 minutes of arc, and for the other angles, the RMSE was around 10 minutes of arc. |
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Platform calibration of an omnidirectional vision system composed of a camera and a conical mirrorCalibração da Plataforma de um Sistema de Visão Omnidirecional composto por uma Câmara e um Espelho CônicoGNSSIMUPhotogrammetryOmnidirectional vision systems allow for a 360° imaging field and are applied in many areas of knowledge, including close range Photogrammetry. Obtaining reliable measurements, the Photogrammetry's goal, requires calibration of the system, a step in which the parameters of the mathematical models are estimated. The calibration of the system is divided into internal calibration and platform calibration. The main objective of this work is to perform the calibration of the platform of an omnidirectional vision system composed of a camera and a conical mirror. In the calibration of the platform we estimated the parameters that relate the imaging system to the georeferencing system, composed of a GNSS (Global Navigation Satellite System) receiver and an IMU (Inertial Measurement Unit). In the calibration of the platform the boresight angles of the IMU were estimated related to the cone reference and the lever arm of the vertex of the cone to the center of the GNSS antenna. The uncertainty in the estimation of the lever arm is at least 10 times less than the precision obtained with the GNSS receiver in kinematic mode, which indicates an adequate quality for the estimated value. Regarding the misalignment angles, the RMSE (Root Mean Square Error) was higher for the rotation angle kIMUCone, around 30 minutes of arc, and for the other angles, the RMSE was around 10 minutes of arc.Universidade Federal de Mato Grosso do Sul Faculdade de Engenharias Arquitetura e Urbanismo e GeografiaUniversidade Estadual Paulista Departamento de CartografiaUniversidade Federal da Grande Dourados Faculdade de Ciências AgráriasUniversidade Estadual Paulista Departamento de CartografiaUniversidade Federal de Mato Grosso do Sul (UFMS)Universidade Estadual Paulista (UNESP)Faculdade de Ciências AgráriasMarcato, JoséAkiyama, Thales ShoitiTommaselli, Antonio Maria Garcia [UNESP]de Moraes, Marcus Vinícius Antunes [UNESP]Fernandes, Vanessa Jordão Marcato2022-04-29T08:29:25Z2022-04-29T08:29:25Z2020-06-30info:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/article270-278http://dx.doi.org/10.14393/rbcv72n2-50059Revista Brasileira de Cartografia, v. 72, n. 2, p. 270-278, 2020.1808-09360560-4613http://hdl.handle.net/11449/22891810.14393/rbcv72n2-500592-s2.0-85103462981Scopusreponame:Repositório Institucional da UNESPinstname:Universidade Estadual Paulista (UNESP)instacron:UNESPporRevista Brasileira de Cartografiainfo:eu-repo/semantics/openAccess2024-06-18T15:01:27Zoai:repositorio.unesp.br:11449/228918Repositório InstitucionalPUBhttp://repositorio.unesp.br/oai/requestopendoar:29462024-08-05T17:45:23.563330Repositório Institucional da UNESP - Universidade Estadual Paulista (UNESP)false |
dc.title.none.fl_str_mv |
Platform calibration of an omnidirectional vision system composed of a camera and a conical mirror Calibração da Plataforma de um Sistema de Visão Omnidirecional composto por uma Câmara e um Espelho Cônico |
title |
Platform calibration of an omnidirectional vision system composed of a camera and a conical mirror |
spellingShingle |
Platform calibration of an omnidirectional vision system composed of a camera and a conical mirror Marcato, José GNSS IMU Photogrammetry |
title_short |
Platform calibration of an omnidirectional vision system composed of a camera and a conical mirror |
title_full |
Platform calibration of an omnidirectional vision system composed of a camera and a conical mirror |
title_fullStr |
Platform calibration of an omnidirectional vision system composed of a camera and a conical mirror |
title_full_unstemmed |
Platform calibration of an omnidirectional vision system composed of a camera and a conical mirror |
title_sort |
Platform calibration of an omnidirectional vision system composed of a camera and a conical mirror |
author |
Marcato, José |
author_facet |
Marcato, José Akiyama, Thales Shoiti Tommaselli, Antonio Maria Garcia [UNESP] de Moraes, Marcus Vinícius Antunes [UNESP] Fernandes, Vanessa Jordão Marcato |
author_role |
author |
author2 |
Akiyama, Thales Shoiti Tommaselli, Antonio Maria Garcia [UNESP] de Moraes, Marcus Vinícius Antunes [UNESP] Fernandes, Vanessa Jordão Marcato |
author2_role |
author author author author |
dc.contributor.none.fl_str_mv |
Universidade Federal de Mato Grosso do Sul (UFMS) Universidade Estadual Paulista (UNESP) Faculdade de Ciências Agrárias |
dc.contributor.author.fl_str_mv |
Marcato, José Akiyama, Thales Shoiti Tommaselli, Antonio Maria Garcia [UNESP] de Moraes, Marcus Vinícius Antunes [UNESP] Fernandes, Vanessa Jordão Marcato |
dc.subject.por.fl_str_mv |
GNSS IMU Photogrammetry |
topic |
GNSS IMU Photogrammetry |
description |
Omnidirectional vision systems allow for a 360° imaging field and are applied in many areas of knowledge, including close range Photogrammetry. Obtaining reliable measurements, the Photogrammetry's goal, requires calibration of the system, a step in which the parameters of the mathematical models are estimated. The calibration of the system is divided into internal calibration and platform calibration. The main objective of this work is to perform the calibration of the platform of an omnidirectional vision system composed of a camera and a conical mirror. In the calibration of the platform we estimated the parameters that relate the imaging system to the georeferencing system, composed of a GNSS (Global Navigation Satellite System) receiver and an IMU (Inertial Measurement Unit). In the calibration of the platform the boresight angles of the IMU were estimated related to the cone reference and the lever arm of the vertex of the cone to the center of the GNSS antenna. The uncertainty in the estimation of the lever arm is at least 10 times less than the precision obtained with the GNSS receiver in kinematic mode, which indicates an adequate quality for the estimated value. Regarding the misalignment angles, the RMSE (Root Mean Square Error) was higher for the rotation angle kIMUCone, around 30 minutes of arc, and for the other angles, the RMSE was around 10 minutes of arc. |
publishDate |
2020 |
dc.date.none.fl_str_mv |
2020-06-30 2022-04-29T08:29:25Z 2022-04-29T08:29:25Z |
dc.type.status.fl_str_mv |
info:eu-repo/semantics/publishedVersion |
dc.type.driver.fl_str_mv |
info:eu-repo/semantics/article |
format |
article |
status_str |
publishedVersion |
dc.identifier.uri.fl_str_mv |
http://dx.doi.org/10.14393/rbcv72n2-50059 Revista Brasileira de Cartografia, v. 72, n. 2, p. 270-278, 2020. 1808-0936 0560-4613 http://hdl.handle.net/11449/228918 10.14393/rbcv72n2-50059 2-s2.0-85103462981 |
url |
http://dx.doi.org/10.14393/rbcv72n2-50059 http://hdl.handle.net/11449/228918 |
identifier_str_mv |
Revista Brasileira de Cartografia, v. 72, n. 2, p. 270-278, 2020. 1808-0936 0560-4613 10.14393/rbcv72n2-50059 2-s2.0-85103462981 |
dc.language.iso.fl_str_mv |
por |
language |
por |
dc.relation.none.fl_str_mv |
Revista Brasileira de Cartografia |
dc.rights.driver.fl_str_mv |
info:eu-repo/semantics/openAccess |
eu_rights_str_mv |
openAccess |
dc.format.none.fl_str_mv |
270-278 |
dc.source.none.fl_str_mv |
Scopus reponame:Repositório Institucional da UNESP instname:Universidade Estadual Paulista (UNESP) instacron:UNESP |
instname_str |
Universidade Estadual Paulista (UNESP) |
instacron_str |
UNESP |
institution |
UNESP |
reponame_str |
Repositório Institucional da UNESP |
collection |
Repositório Institucional da UNESP |
repository.name.fl_str_mv |
Repositório Institucional da UNESP - Universidade Estadual Paulista (UNESP) |
repository.mail.fl_str_mv |
|
_version_ |
1808128853996994560 |