World-Base Calibration by Global Polynomial Optimization

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F15%3A00226740" target="_blank" >RIV/68407700:21230/15:00226740 - isvavai.cz</a>
Result on the web
<a href="http://dx.doi.org/10.1109/3DV.2014.78" target="_blank" >http://dx.doi.org/10.1109/3DV.2014.78</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/3DV.2014.78" target="_blank" >10.1109/3DV.2014.78</a>

Result language
angličtina
Original language name
World-Base Calibration by Global Polynomial Optimization
Original language description
This paper presents a novel solution to the world-base calibration problem. It is applicable in situations where a known calibration target is observed by a camera attached to the end effector of a robotic manipulator. The presented method works by minimizing geometrically meaningful error function based on image projections. Our formulation leads to a non-convex multivariate polynomial optimization problem of a constant size. However, we show how such a problem can be relaxed using linear matrix inequality (LMI) relaxations and effectively solved using Semi definite Programming. Although the technique of LMI relaxations guaranties only a lower bound on the global minimum of the original problem, it can provide a certificate of optimality in cases whenthe global minimum is reached. Indeed, we reached the global minimum for all calibration tasks in our experiments with both synthetic and real data. The experiments also show that the presented method is fast and noise resistant.
Czech name
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Czech description
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Project
Result was created during the realization of more than one project. More information in the Projects tab.
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year
2015
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

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