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A Neurocalibration Model for Autonomous Vehicle Navigation

机译:一种自主车辆导航的神经枢纽模型

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The paper evaluates the capability of a neural model to calibrate a digital camera. By calibrate we understand the algorithms that reconstructs the 3D structure of an scene from its corresponding 2D projections in the image plane. The most used 3-D to 2-D geometrical projection models are based in the pin-hole model, a free distortions model. It is based in the correspondence established between the image and the real-world points in function of the parameters obtained from examples of correlation between image pixels and real world pixels. Depending on the sensor used, different kind of chromatic aberrations would appear in the digital image, affecting the brightness or the geometry. To be able to correct these distortions, several theoretical developments based on pin-hole models have been created. The paper proves the validity of applying a neural model to correct the camera aberrations, being unnecessary to calculate any parameters, or any modelling. The calibration of autonomous vehicle navigation system will be used to prove the validity of our model.
机译:本文评估了神经模型来校准数码相机的能力。通过校准,我们理解从图像平面中的相应的2D投影重建场景的3D结构的算法。最常用的3-D到2-D几何投影模型基于引脚孔模型,自由扭曲模型。它基于在图像和实际点之间建立的对应关系,其函数从图像像素和现实世界像素之间的相关性的示例获得的参数。根据所使用的传感器,数码图像中出现不同类型的色差,影响亮度或几何形状。为了能够纠正这些扭曲,已经创建了基于针孔模型的若干理论发展。本文证明了应用神经模型来纠正相机像差的有效性,不必计算任何参数或任何建模。自动车辆导航系统的校准将用于证明我们模型的有效性。

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