Extrinsic Calibration of a Monocular Camera for an Autonomous Surface Vessel Using a Forward Facing Sonar
نویسندگان
چکیده
We present work towards building a fused sensing system for a small Autonomous Surface Vessel (ASV). We present a technique to estimate the extrinsic calibration of a forward facing monocular camera by using existing range sensors on the vessel along with a some improvements on segmenting the water surface in the camera images. We demonstrate our techniques in field experiments and apply the obtained camera calibration to experiment data.
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تاریخ انتشار 2013