Hybrid Positioning and Sensor Integration - Global Navigation Satellite Systems: Signal,Theory and Applications - page 341

Sensors Model Specifications

Digital
Camera

Canon
EOS 10D

3,072×2,048 pixels
Focal length: 24.0mm
Price: $1,500US
Weight: 500g

IR Camera Tetracam

ADC3

2,048×1,536 pixels
Green, red, and NIR sensitivity with
bands approximately equal to TM2, TM3,
and TM4.
Focal length: 10.0mm
Price: $6,000US
Weight: 500g

Laser
Scanner

SICK
LMS-291

Angular resolution: 0.25º
Max. distance: 80m
Accuracy (20m) : 10mm
Price: $4,000US
Weight: 4,000g

IMU Tamagawa

Seiki Co.,
Ltd.
TA7544

Fiber optic gyro
Accuracy
Angle: ±0.1°
Angle velocity: ±0.05°/s
Acceleration: ±0.002G
Price: $20,000US
Weight: 1,000g

GPS Ashtech

G12

Accuracy differential: 30cm
Velocity accuracy: 0.1(95%)
Price: $4,000US
Weight: 150g

Range: -120~+250 km/h
Resolution: 10 mm/P
Price: $13,000US
Weight: 1.7kg
Table 1. List of sensors on mobile platform

VMS Ono Sokki

Co., Ltd.
LC-3110

2.2.1 Calibration of digital camera
Initially, calibration of digital images is necessary due to the estimation of interior
orientation parameters. Interior orientation is conducted to decide interior orientation
parameters, principal point (x 0 , y 0 ), focus length (f), and distortion coefficient (K 1 ). Control
points for camera calibration are taken as stereo images several times. Camera calibration is
performed by the bundle adjustment using target control points. In order to estimate
appropriate lens distortion for a digital camera, lens distortion mode is shown in Eq. (1) and
Eq. (2). These equations consider only radial symmetric distortion (Kunii & Chikatsu, 2001).
Image coordinate of (x, y) is corrected and transferred to new image coordinates of (x u , y u ).
Interior orientation parameters that are computed in this calibration for Canon EOS 10D are
shown in Table 2.