UDC 681.513.3
THE RESEARCH OF OBJECT COORDINATE MEASUREMENT ACCURACY BY THE OPTICAL MARKS IN AUTONOMOUS NAVIGATION SYSTEM
A. I. Kalinkin, master, RSREU, Ryazan; This email address is being protected from spambots. You need JavaScript enabled to view it.
V. I. Koshelev, PhD (technical sciences), full professor, Head of the Department, RSREU, Ryazan; This email address is being protected from spambots. You need JavaScript enabled to view it.
I. S. Kholopov, PhD (technical sciences), associate professor, RSREU, Ryazan; This email address is being protected from spambots. You need JavaScript enabled to view it.
The aim of the work is the investigation of the potential achievable estimating error of the object coordinates on the information from a single calibrated camera for different configurations of reference light emitters, placed on the object. It is shown that solving Perspective-4-Point problem for estimating object Cartesian coordinates is preferable to placing four reference optical marks in the form of an orthocentrical tetrahedron with a base in the shape of an equilateral triangle, and for estimation of the angular coordinates – in the form of clusters, used in automatic docking systems.
Key words: PnP algorithms, cluster, SVD-decomposition, affine transformation, rotation matrix, Euler angles, geometric dilution of precision.