Vision-based Localization and Attitude Estimation Methods in Natural Environments Link¨oping Studies in Science and Technology
Dissertations, No. 1977 Errata Bertil Grelsson
2019-04-21
Chapter 6:
Page 45: The next to last sentence should read:
The normal vector of the tilted horizon plane, which is parameterized with the pitch and roll angles, can be computed as n =−−→
QP × t. For low camera altitudes, up to a few meters above the sea level, n = P × t is a good approximation.
Page 46: Figure 6.5 should be:
n z
t P
Q
Figure 6.5: Projection of the ideal horizon onto a camera fixed unit cylinder for a level camera (blue) and for a tilted camera (red). The tangent vector t is directed out of the paper.
Paper C:
Page 113: The model used for lens distortion is given in (1).
Page 113: We denote the set of lens distortion parameters in (1) with D, ...
Page 116: The line lB, (c.f. Figure 6), is defined by (12).
Page 117: The line lGis defined by (13).
Page 117: Equation (14) should read:
wPgeom,i= [cos αi sin αi cos(π − ξmax,i)]T k[cos αi sin αi cos(π − ξmax,i)]Tk2
