Three-Dimensional Stereo Reconstruction and Sensor Registration with Application to the Development of a Multi-Sensor Database

Report No. ARL-TR-2878
Authors: William F. Oberle and Gary A. Haas
Date/Pages: December 2002; 41 pages
Abstract: This report discusses efforts undertaken at the U.S. Army Research Laboratory (ARL), which support research in robotic perception. The efforts include collaborative work with the National Institute of Standards and Technology to develop a multi-sensor (laser radar [LADAR], navigation and stereoscopic video [stereo]) database with ground truth for use by the robotics research community. ARL?s efforts are focused on stereo. The report documents procedures for determining the transformations between the cameras of the stereo system and the transformations between the camera system and other sensor, vehicle, and world coordinate systems. Results indicate that the measured stereo and ladar data are susceptible to large errors that affect the accuracy of the calculated transformations.
Distribution: Approved for public release
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Last Update / Reviewed: December 1, 2002