Technical Reports (CIS)

Document Type

Technical Report

Date of this Version

February 1988

Comments

University of Pennsylvania Department of Computer and Information Science Technical Report No. MS-CIS-88-11.

Abstract

This paper addresses the problem of merging multiple views of a static scene into a common coordinate frame, explicitly considering uncertainty. It assumes that a static world is observed by an agile vision system, whose movements are known with a limited precision, and whose observations are inaccurate and incomplete. It concentrates on acquiring uncertain three-dimensional information from multiple views, rather than on modeling or representing the information at higher levels of abstraction.

Two particular problems receive attention: identifying the transformation between two viewing positions; and understanding how errors and uncertainties propagate as a result of applying the transformation. The first is solved by identifying the forward kinematics of the agile camera system. The second is solved by first treating a measurement of camera position and orientation as a uniformly distributed random vector whose component variances are related to the resolution of the encoding potentiometers, then treating an object position measurement as a normally distributed random vector whose component variances are experimentally derived, and finally determining the uncertainty of the merged points as functions of these variances.

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Date Posted: 16 August 2007