Visual Position Extraction Using Stereo Eye Systems with a Relative Rotational Motion Capability
Work reported herein was conducted at the Artificial Intelligence Laboratory, a Massachusetts Institute of Technology research program supported in part by the Advanced Research Projects Agency of the Department of Defense and monitored by the Office of Naval Research under Contract Number N00014-70-A-0362-0003.
This paper discusses the problem of context-free position estimation using a stereo vision system with moveable eyes. Exact and approximate equations are developed linking position to measureable quantities of the image-space, and an algorithm for rough form. An estimate of errors and resolution limits is provided.