作者：付强郑子亮
页数：121
出版社：冶金工业出版社
出版日期：2020
ISBN：9787502484521
电子书格式：pdf/epub/txt
内容简介
There are 7 chapters in this book. Chapter 1 introduces the three-dimensional（3D）visual tracking problem for multicopters. Chapter 2 gives some preliminaries used in the book. Chapters 3~4 focus on the one-dimensional（1D） calibration problem for multiple perspective cameras and multiple fish-eye cameras. Chapters 5~6 deal with the robust pose estimation problem of multicopters in single-camera case and multi-camera case. Chapter 7 introduces a 3D visual tracking system for multicopters built with cheap and off-the-shelf cameras. This book is written for researchers and engineers working in robotic visual servo-ing， machine vision， systems and control， etc.
作者简介
付强，1987年生，北京科技大学自动化学院讲师，主要从事视觉导航、机器人视觉伺服方面的研究，发表SCIEI论文20余篇，主持国家自然科学基金1项、科技部高端外国专家项目1项等多项课题。
目录
2.1.2.Cameracoordinatesystemandinertialcoordinatesystem2.1.3.bodycoordinatesystem2.1.4.Symboldefinitions2.2.Attituderepresentation2.2.1.Eulerangleandrotationmatrix2.2.2.Rotationvector2.3.Cameramodel2.3.1.Perspectivecameramodel2.3.2.Genericcameramodel2.4.Epipolargeometryand3Dreconstruction2.4.1.Fundamentalmatrixbasedonperspectivecameramodel2.4.2.3Dreconstructionbasedonperspectivecameramodel2.4.3.Essentialmatrixbasedongenericcameramodel2.4.4.3Dreconstructionbasedongenericcameramodel2.5.Processmodelformulticopters
3Multi-cameracalibrationbasedonperspectivecameramodeland1Dcalibrationobject3.1.Featurepointimagingandproblemformulation3.1.1.Featurepointimaging3.1.2.Problemformulation3.2.Calibrationmethod3.2.1.Solvingthedistortioncoefficient3.2.2.Solvingtheinitialvalueofmulti-cameraintrinsicandextrinsicparameters
3.2.3.Overalloptimizationofmulti-cameraintrinsicandextrinsicparameters——BundleAdjustment3.3.Experimentalresults3.3.1.Simulationexperiments3.3.2.Realexperiments3.4.Summary4Multi-cameracalibrationbasedongenericcameramodeland1Dcalibrationobject4.1.Featurepointimagingandproblemformulation
4.2.Calibrationmethod4.2.1.Calibrationoftwocameras4.2.2.Calibrationofmultiplecameras4.3.Experimentresults4.3.1.Simulationexperiments4.3.2.Realexperiments4.4.Summary5Robustposeestimationformulticoptersusingoff-boardmonocularvision5.1.Featurepointimagingandproblemformulation
5.1.1.Featurepointimaging5.1.2.Problemformulation5.2.Monocularposeestimationwithprocessmodelformulticopters5.3.Observabilityanalysis5.4.Experimentresults5.4.1.Simulationexperiments5.4.2.Realexperiments5.5.Summary6Robustposeestimationformulticoptersusingoff-boardmultiplecameras
6.1.Featurepointimagingandproblemformulation6.1.1.Featurepointimaging6.1.2.Problemformulation6.2.Featurepointreconstruction6.2.1.Featurepointreconstructionbasedontwocameras6.2.2.Featurepointreconstructionbasedonmultiplecameras6.3.Multi-cameraposeestimationwithprocessmodelformulticopters
6.4.Observabilityanalysis6.5.Experimentresults6.5.1.Simulationexperiments6.5.2.Realexperiments6.6.Summary7A3Dvisualtrackingsystemformulticopters7.1.Systemhardware7.2.Systemsoftware7.3.Performanceevaluation7.3.1.Systemaccuracy7.3.2.Computationtime7.4.Summary
