Testbench calibration technique for testing attitude determination algorithms by video processing

Abstract

This work is dedicated to the problem of estimating the orientation of an object by image processing. To solve this problem, an approach consisting of two parts is considered: In the first stage, the attitude determination by means of the camera measurement model adapted for the use of quaternions. In the second stage the orientation quaternion correction is performed using the least squares method. The results of experimental studies showed that using the camera measurement model and the iterative process, can be determine the orientation quaternion with high accuracy. The good results obtained for orientation quaternions determination allow that this work can be easily integrated to another systems based on quaterions.