连接刚体的三维结构和运动参数估计

根据连接刚体的结构和运动属性，提出了一种基于单目图像序列点对应元的连接刚体三维运动估计新方法．该方法首先利用相邻两个连杆的运动连接关系，由2幅图像估计连接刚体的初始位姿，即确定连接点的空间位置．其次在初始位姿估计的基础上，将各个连杆的运动用螺旋和指数映射表示．最后利用图像点对应元的运动约束方程，求得连接刚体的运动参数．实验结果表明，连接刚体的各个连杆的相互关联性被充分利用。降低了问题的复杂度，提高了算法稳健性．

3D Structure and Motion Estimation for Articulated Objects

This paper presented a new method of 3D structure and motion analysis for articulated objects from monocular perspective images. First, an articulated object is modeled as a kinematic chain consisting of joints and links, and its joint structure is estimated within a scale factor using the connection relationship of two links over two images. Then, twists and exponential maps in robotic manipulation are employed to represent the motion of each link, including the general motion of the base link and the rotation of other links around their joints. Finally, constraints from image point correspondences are used to estimate the motion. The simulations and experiments on real images show the correctness and efficiency of the algorithm.