Mirage: an O(n) time analytical solution to 3D camera pose estimation with multi-camera support

Abstract

SUMMARYMirage is a camera pose estimation method that analytically solves pose parameters in linear time for multi-camera systems. It utilizes a reference camera pose to calculate the pose by minimizing the 2D projection error between reference and actual pixel coordinates. Previously, Mirage has been successfully applied to trajectory tracking (visual servoing) problem. In this study, a comprehensive evaluation of Mirage is performed by particularly focusing on the area of camera pose estimation. Experiments have been performed using simulated and real data on noisy and noise-free environments. The results are compared with the state-of-the-art techniques. Mirage outperforms other methods by generating fast and accurate results in all tested environments.

Vision-Based CubeSat Closed-Loop Formation Control in Close Proximities

“…(6). After very involved manipulations, which can be found in [15], the following relation is found between the pixel error e c i j and the elements of…”

“…where V c i is a × matrix and Y c i is a × vector with known values. For the detailed formulation of these parameters, see [15]. The × vector t f f d contains all 12 unknown elements of the transformation matrix T f f d .…”

“…In this research, to address the GN&C needs of close formation ying of small satellites, a vision based pose estimation combined with robust Higher-Order Sliding Mode (HOSM) controllers is explored. First, a vision based pose estimation method is brie y introduced [14,15]. Then, a HOSM exact di erentiator with nite-time convergence is explained.…”

Single‐camera pose estimation using mirage

“…The derivation of such a relation is very involved and is explained in detail in [9]. For the sake of brevity and to avoid repetition, those derivations are omitted here.…”

“…where V j is a 2 × 12 matrix and Y j is a 2 × 1 vector with known values. For the detailed formulation of these parameters, see [9]. The 12 × 1 vector t B d B contains all 12 unknown elements of the…”