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Erschienen in:
2011 | OriginalPaper | Buchkapitel
7. Calibration of Target Positions Using Conformal Geometric Algebra
verfasst von : Robert Valkenburg, Nawar Alwesh
Erschienen in: Guide to Geometric Algebra in Practice
Verlag: Springer London
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Abstract
This chapter describes an algorithm for calibrating the 3D positions of multiple stationary point targets which form part of an optical positioning system. A group of rigidly co-located calibrated cameras are moved to several positions and images of the targets acquired. The target pixel coordinates are extracted and transformed into 3D lines which are used as input data to the algorithm. A nonlinear solution is developed using geometric algebra and geometric calculus and expressed in the conformal model of Euclidean 3D space. A coordinate free approach to differentiating rotors is developed and used in the algorithm to differentiate motion rotors. Experiments are performed to evaluate the algorithm, and the results show that it performs well and is robust in the presence of noise.