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A procedure to calibrate the relative position and orientation (extrinsic parameters) between a Time of Flight (ToF) camera and an RGB camera is presented. The proposed approach is particularly suited for ToF cameras characterized by very low resolution and a limited field of view. The presented experimental set-up is conceived to facilitate feature detection using both the ToF and RGB cameras. Three...
Stereo visual odometry is one of the most accurate dead-reckoning methods for estimating the motion of a moving vehicle but it strongly depends on a robust matching of the image features in the stereo frame. If a stereo camera is observing the environment from a critically small distance the two field of view can be subjected to poor or absent overlapping. That leads to failure of the computation...
In this paper we describe a Visual Odometry algorithm using a single RGB camera and a low resolution Time-ofFlight (ToF) camera for resolving the scale ambiguity in monocular vision. Two hybrid 3D-to-2D approaches for integrating direct depth measurements from the ToF with the RGB camera are compared. These two methods differ in the association of RGB and ToF camera measurements: one is performed...
In planetary exploration space missions, motion measurement of a vehicle on the surface of a planet is a very important task. The main contribution of this work is an experimental comparison among visual odometry systems using lenses with three different focal lengths (an ultra wide angle, a medium wide angle and a telephoto lens). The comparison is performed with a rigorous uncertainty analysis....
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