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This paper presents a method for determining the six-Degree-of-Freedom (DOF) transformation between a camera and a base frame of interest, while concurrently estimating the 3D base-frame coordinates of unknown point features in the scene. The camera observes the reflections of fiducial points, whose base-frame coordinates, are known, and reconstruction points, whose base-frame coordinates are unknown. This paper examines the case in which, due to visibility constraints, none of the points are directly viewed by the camera, but instead are seen via reflection in multiple planar mirrors.
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