多旋翼鲁棒三维视觉跟踪(英文)

1星价 ¥47.5 (7.2折)

2星价￥47.5 定价￥66.0

作者：付强郑子亮

出版社：冶金工业出版社

本类榜单：计算机/网络

分类：计算机/网络 > 计算机理论

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ISBN：9787502484521
装帧：一般胶版纸
册数：暂无
重量：暂无
开本：16开
页数：121
出版时间：2020-03-01
条形码：9787502484521 ; 978-7-5024-8452-1

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.

ntroduction1.1.Motivation1.2.Relatedresearch1.2.1.Multi-cameracalibration1.2.2.Poseestimationformulticopters1.2.3.3Dvisualtrackingsystemsformulticopters1.3.Outlineofthebook2Preliminaries2.1.Coordinatesystemandsymboldefinitions2.1.1.Imagecoordinatesystem 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

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