Optimized camera pose estimation using iterative algorithm based on visual marker

The use of computer vision for landing operations on the mars and martian rover navigation is very important for scientific space missions. In this paper we implement an iterative visual navigation algorithm based on Gauss-Newton method for estimating position based on the image captured by only one...

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Bibliographic Details
Main Authors: Alkhatib, M. N., Bobkov, A. V.
Format: Conference Proceeding
Language:English
Subjects:
Algorithms
Cameras
Computer vision
Error analysis
Estimation
Gauss-Newton method
Iterative algorithms
Iterative methods
Mathematical analysis
Navigation
Newton methods
Noise levels
Pose estimation
Space missions
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Summary:The use of computer vision for landing operations on the mars and martian rover navigation is very important for scientific space missions. In this paper we implement an iterative visual navigation algorithm based on Gauss-Newton method for estimating position based on the image captured by only one camera. We find the pose that minimize the squared error of the predicted location of the image features to the measured location. For computing the error of pose estimation, synthetic images were generated. Considered a two-dimensional object (square) containing a set of distinct points (at least four points). The algorithm error is calculated for many relative distances between the camera and the object and three noise levels. Several images of the body are generated and taken from different elevation and azimuth angles, the position of the camera in relation to the body is estimated by applying the algorithm, then compared with the real position, to calculate the error.
ISSN:0094-243X
1551-7616
DOI:10.1063/5.0108003