Title :
High-accuracy multiviewpoint stereo measurement using the maximum-likelihood method
Author :
Naruse, Hiroshi ; Nobiki, Atsushi ; Yabuta, Tetsuro ; Tateda, Mitsuhiro
Author_Institution :
NTT Corp., Ibaraki, Japan
fDate :
8/1/1997 12:00:00 AM
Abstract :
We propose a new type of highly accurate multiviewpoint stereo measurement using the maximum-likelihood method. This method is used for measuring positions of facilities, such as telegraph poles on a road. In this method, a normal distribution is assumed for a measurement error on stereo image planes. First, the probability density functions of the measurement errors at the multiviewpoints are combined. Next, the combined function is expressed using both real-space coordinates and coordinate transformation parameters, which give relative viewpoint positions, and the most probable coordinates are estimated from a condition that minimizes the function. Then, the best viewpoint positions, which minimize the area of the combined error ellipse, are investigated by analyzing the variance included in the estimated coordinates, and the relationship between the number of viewpoints and the variance of the best viewpoint positions is obtained. Finally, these theoretical results are confirmed experimentally by measuring outdoor facilities
Keywords :
error analysis; maximum likelihood estimation; measurement errors; normal distribution; probability; stereo image processing; television applications; combined error ellipse; coordinate transformation parameters; facilities position measurement; maximum-likelihood method; measurement error; multiviewpoint stereo measurement; normal distribution; probability density functions; real-space coordinates; stereo image planes; telegraph poles; video recording; Cameras; Databases; Maximum likelihood estimation; Measurement errors; Position measurement; Roads; Robot vision systems; Stereo vision; Telegraphy; Telephony;
Journal_Title :
Industrial Electronics, IEEE Transactions on