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Abstract

This paper describes a laboratory system for recovering the global coordinates of feature points obtained from a moving camera. The prototype includes a stereo vision system combined with an overhead camera, which mimics a GPS receiver. The stereo vision system provides three dimensional feature point coordinates relative to the position of the cameras and the overhead camera provides three-dimensional coordinates of the camera in a “global” coordinate system. The fusion of these data provides three-dimensional feature point coordinates in a fixed origin global coordinate system.

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