PPT Slide

3D Mesh Stitching (contíd)

Stanford University School of Engineering

Department of Mechanical Engineering

XX February 2000

• Camera Position Knowledge

  • Relative positions from a defined initial frame

    • Inertial navigation package will output data that will allow the calculation of positioning information for the vehicle and camera
  • New Doppler-based navigation (1cm precision for X-Y)
• Feature-based ìzipperingî algorithm for computer vision will be used to stitch meshes and provide another ìopinionî of camera position.

• Investigate and characterize the error reducing potential of a system level calibration

  • Would characterizing the camera and vehicle as one system instead of quantifying error in separate instruments reduce the error significantly?

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  Notes:

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  Eric recommended that we hunker down on the ground and do a tripod-type approach underwater
  Position Knowledge
  • Heading (magnetic and gyro compass)
  • Roll and Pitch (inclinometer)
  • Depth (pressure sensor)
  • altimeter (sonar)
  System level calibration characterizes error in positioning system
  Stitching
  • How precise can you get from vision ìzippingî (Turk and Levoy)
  • How much influence can the navigation data have? Is it necessary?