Camera pose estimation with moving Aruco-board. : Retrieving camera pose in a stereo camera tolling system application.

Sammanfattning: Stereo camera systems can be utilized for different applications such as position estimation,distance measuring, and 3d modelling. However, this requires the cameras to be calibrated.This paper proposes a traditional calibration solution with Aruco-markers mounted on avehicle to estimate the pose of a stereo camera system in a tolling environment. Our method isbased on Perspective N Point which presumes the intrinsic matrix to be already known. Thegoal is to find each camera’s pose by identifying the marker corners in pixel coordinates aswell as in world coordinates. Our tests show a worst-case error of 21.5 cm and a potential forcentimetre accuracy. It also verifies validity by testing the obtained pose estimation live in thecamera system. The paper concludes that the method has potential for higher accuracy notobtained in our experiment due to several factors. Further work would focus on enlarging themarkers and widening the distance between the markers.