| 综合重构与正交迭代位姿估计算法 |
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| 引用本文： | 郭军,董新民,王龙.综合重构与正交迭代位姿估计算法[J].应用科学学报,2011,29(6):577-584. |
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| 作者姓名： | 郭军 董新民 王龙 |
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| 作者单位： | 1. 空军工程大学工程学院，西安710038
2. 93716部队57分队，天津301716 |
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| 摘 要： | 摘要： 多摄像机系统(multiple camera systems, MCS)在机器视觉领域成为研究热点. 针对MCS的位姿估计问题提出了一种新的综合重构与正交迭代算法，并引入广义摄像机模型来描述MCS以方便算法推导. 为充分利用MCS提供的冗余测量信息，将观测到的参考点进行分类，并构建了加权目标函数，综合了最优绝对定向解和正交迭代(orthogonal iteration, OI)算法的优点. 三维重构信息的引入不仅克服了OI算法的位姿模糊，而且提高了位姿估计的收敛速度和鲁棒性. 采用了自适应权值方法降低重构误差对最终估计的影响. 仿真结果验证了提出算法的有效性和优越性.
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| 关 键 词： | 机器视觉 多摄像机系统 位姿估计 位姿模糊 正交迭代 自适应权值 |
| 收稿时间： | 2010-12-26 |
| 修稿时间： | 2011-05-07 |
Pose Estimation Based on Integrated Reconstruction and Orthogonal Iteration |
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| GUO Jun,DONG Xin-min,WANG Long.Pose Estimation Based on Integrated Reconstruction and Orthogonal Iteration[J].Journal of Applied Sciences,2011,29(6):577-584. |
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| Authors: | GUO Jun DONG Xin-min WANG Long |
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| Institution: | 1. Engineering Institute, Air Force Engineering University, Xi’an 710038, China;
2. 57 Detachment, 93716 Troops, Tianjin 301716, China |
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| Abstract: | Multiple camera systems(MCS) have attracted increasing attention in machine vision.Regarding pose estimation of MCS,a novel integrated reconstruction and orthogonal iteration algorithm is proposed. A general camera model is introduced to formulate MCS to derive the algorithm.To make full use of the redundant measurements of MCS,the observed reference points are classified,and a weighted objective function is constructed.Using the objective function,advantages of the optimal absolute orientation solution(OAO... |
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| Keywords: | machine vision multiple camera systems pose estimation pose ambiguity orthogonal iteration adaptive weighting |
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