Table 1 Auto-calibration parameters (L and R denote left and right camera)
Parameter | Description |
|---|---|
Δf L , Δf R | Correction for focal lengths [px] |
\( \begin{array}{c}\hfill \varDelta {x}_{L,0},\varDelta {y}_{L,0}\hfill \\ {}\hfill \varDelta {x}_{R,0},\varDelta {y}_{R,0}\hfill \end{array} \) | Correction for principal points [px] |
\( \begin{array}{c}\hfill {k}_{L,1},{k}_{L,2},{k}_{L,3}\hfill \\ {}\hfill {k}_{R,1},{k}_{R,2},{k}_{R,3}\hfill \end{array} \) | Radial lens distortion parameters [px−2, px−4, px−6] |
\( {\mathbf{b}}_{LR}^c \) | Stereo baseline vector [m] |
\( {C}_{cR}^c \) | Right camera to left camera DCM defined by Euler angles \( {\boldsymbol{\theta}}_{cR}^c\left[ \deg \right] \) |
\( \varDelta {\mathbf{X}}_{L,k,k-1}^{n^{\prime }} \) | Position difference of the left camera between two consecutive frames [m] |
\( {C}_{c,k}^{n^{\prime }} \) | Camera to n’-frame DCM defined by Euler angles \( {\boldsymbol{\theta}}_{c,k}^{n^{\prime }}\left[ \deg \right] \) |