TY - GEN

T1 - Empirical Analysis of Visual Localization Accuracy

AU - Юсупова, Анастасия Юрьевна

AU - Titov, Viktor

N1 - Publisher Copyright: © 2022 IEEE.

PY - 2022/9/4

Y1 - 2022/9/4

N2 - The paper is devoted to empirical accuracy analysis of the visual localization problem. The accuracy is considered with attention to the design of a maintenance system for an industrial manufacturing cell. Three cases of localization are considered that constitute the most relevant acquisition conditions: single view, dual view, and partial occlusions. A virtual environment is developed for simulation in close to realistic conditions that allows one to account for feature point detection algorithms, camera resolution, etc. Important results have been obtained for the maintenance system design. The simulation revealed that the accuracy is strongly dependent on the distance to the target object and the number of visible points. The orientation error shows little dependence on the altitude of the camera relatively to the target object. The position error exhibits a clear minimum at a particular angle between the cameras in dual view observation. The accuracy under occlusions also indicates a number of patterns.

AB - The paper is devoted to empirical accuracy analysis of the visual localization problem. The accuracy is considered with attention to the design of a maintenance system for an industrial manufacturing cell. Three cases of localization are considered that constitute the most relevant acquisition conditions: single view, dual view, and partial occlusions. A virtual environment is developed for simulation in close to realistic conditions that allows one to account for feature point detection algorithms, camera resolution, etc. Important results have been obtained for the maintenance system design. The simulation revealed that the accuracy is strongly dependent on the distance to the target object and the number of visible points. The orientation error shows little dependence on the altitude of the camera relatively to the target object. The position error exhibits a clear minimum at a particular angle between the cameras in dual view observation. The accuracy under occlusions also indicates a number of patterns.

KW - PnP accuracy

KW - localization error

KW - position estimation

UR - https://www.mendeley.com/catalogue/f8ce2b55-7eed-322b-a3a1-85c853270750/

UR - http://www.scopus.com/inward/record.url?scp=85140930684&partnerID=8YFLogxK

U2 - 10.1109/rusautocon54946.2022.9896298

DO - 10.1109/rusautocon54946.2022.9896298

M3 - Conference contribution

T3 - Proceedings - 2022 International Russian Automation Conference, RusAutoCon 2022

SP - 354

EP - 360

BT - Proceedings - 2022 International Russian Automation Conference, RusAutoCon 2022

PB - Institute of Electrical and Electronics Engineers Inc.

Y2 - 4 September 2022 through 10 September 2022

ER -