High Precision Positioning with Multi-Camera Setups: Adaptive Kalman Fusion Algorithm for Fiducial Markers

Sensors

MihailOctavian Cernaianu¹  SimonaIuliana Caramihai²  DragosConstantin Popescu²  Ioan Dumitrache² 

[1] Extreme Light Infrastructure - Nuclear Physics (ELI-NP) / Horia Hulubei National Institute for R&D in Physics and Nuclear Engineering (IFIN-HH), Str. Reactorului No. 30, 077125 Bucharest - Magurele, Romania;Faculty of Automatic Control and Computers, University Politehnica of Bucharest, Splaiul Independentei No. 313, 060042 Bucharest, Romania;

关键词: critical infrastructures;    positioning system;    optical measurements;    fiducial markers;    adaptive kalman;    measurement fusion;   

DOI  :  10.3390/s20092746

来源: DOAJ

【 摘 要 】

The paper addresses the problem of fusing the measurements from multiple cameras in order to estimate the position of fiducial markers. The objectives are to increase the precision and to extend the working area of the system. The proposed fusion method employs an adaptive Kalman algorithm which is used for calibrating the setup of cameras as well as for estimating the pose of the marker. Special measures are taken in order to mitigate the effect of the measurement noise. The proposed method is further tested in different scenarios using a Monte Carlo simulation, whose qualitative precision results are determined and compared. The solution is designed for specific positioning and alignment tasks in physics experiments, but also, has a degree of generality that makes it suitable for a wider range of applications.

【 授权许可】

Unknown