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

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...

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Bibliographic Details
Published inSensors (Basel, Switzerland) Vol. 20; no. 9; p. 2746
Main Authors Popescu, Dragos Constantin, Dumitrache, Ioan, Caramihai, Simona Iuliana, Cernaianu, Mihail Octavian
Format Journal Article
LanguageEnglish
Published Switzerland MDPI 11.05.2020
MDPI AG
Subjects
adaptive kalman
critical infrastructures
fiducial markers
measurement fusion
optical measurements
positioning system
measurement fusion
critical infrastructures
adaptive kalman
optical measurements
positioning system
fiducial markers
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Summary: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.
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ISSN:1424-8220
1424-8220
DOI:10.3390/s20092746