Converting a system of coordinates

Hey, I'm doing a project on a vehicle that follows the route with the help of a camera. I'm trying to do a conversion from a camera lens axis system to a vehicle mass center axis system. I realized there are rotation and translation matrices I need to perform but I have a hard time getting started. I'd be happy if anyone can help me.

Answer 1

[Catalytic]

You cannot do a 3D coordinate conversion from a single 2D camera measurement. You need at least 2 cameras. If you have 2 cameras, then you can start here -

https://www.mathworks.com/discovery/stereo-vision.html

[Dekel Mashiach]

I'm already converted from 2D to 3D. I having a hard time about converting the pivot system from the camera to the center of mass of the vehicle.

Answer 2

[Matt J]

You need to measure the position of at least three non-colinear 3D points in both coordinate systems. Then, you can find the mapping between the two systems using, e.g.,

https://www.mathworks.com/matlabcentral/fileexchange/26186-absolute-orientation-horn-s-method