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Table 12 Lever-arm, Scale and Bore-sight

From: Camera auto-calibration in GPS/INS/stereo camera integrated kinematic positioning and navigation system

Parameter

COL

SRE1

SRE2

\( l{a}_{L,x}^b\left(\mathrm{m}\right) \)

−0.037 ± 0.016

−0.025 ± 0.026

−0.065 ± 0.013

\( l{a}_{L,y}^b\left(\mathrm{m}\right) \)

0.352 ± 0.019

0.334 ± 0.031

0.331 ± 0.018

\( l{a}_{L,z}^b\left(\mathrm{m}\right) \)

−0.018 ± 0.047

−0.167 ± 0.090

−0.093 ± 0.040

s c

0.983 ± 0.001

0.989 ± 0.001

0.981 ± 0.001

\( {\theta}_{c,x}^b\left( \deg \right) \)

90.445 ± 0.010

90.721 ± 0.013

90.654 ± 0.008

\( {\theta}_{c,y}^b\left( \deg \right) \)

−0.195 ± 0.014

−0.161 ± 0.029

−0.174 ± 0.011

\( {\theta}_{c,z}^b\left( \deg \right) \)

−90.401 ± 0.031

−90.365 ± 0.054

−90.452 ± 0.024