| 应用普通精度陀螺的快速全局运动估计方法 |
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| 引用本文： | 王鹏,赵跃进,简逸芸,董立泉,刘小华,武红. 应用普通精度陀螺的快速全局运动估计方法[J]. 北京理工大学学报, 2012, 32(3): 316-321 |
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| 作者姓名： | 王鹏 赵跃进 简逸芸 董立泉 刘小华 武红 |
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| 作者单位： | 北京理工大学光电学院,北京,100081;北京理工大学光电学院,北京,100081;北京理工大学光电学院,北京,100081;北京理工大学光电学院,北京,100081;北京理工大学光电学院,北京,100081;北京理工大学光电学院,北京,100081 |
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| 基金项目： | 国家自然科学基金资助项目(61036006) |
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| 摘 要： | 提出一种应用普通精度陀螺的全局运动估计快速算法.该算法利用陀螺来传感摄像系统的不稳定信息,并从陀螺输出的信息中得出视频抖动的方位(象限),以该方位作为基准对当前帧相对参考帧的局部运动矢量进行奇异点滤除,运用最小二乘法(迭代最小二乘法)解算全局运动参数.该算法运算速度快,对陀螺精度要求低,对由干扰运动和矢量估计误差产生的奇异点滤除效果好、运动估计精度高.
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| 关 键 词： | 陀螺 最小二乘法 全局运动估计 |
| 收稿时间： | 2011-08-25 |
Method to Fast Global Motion Estimation Using Gyroscope with Ordinary Precision |
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| WANG Peng,ZHAO Yue-jin,JIAN Yi-yun,DONG Li-quan,LIU Xiao-hua and WU Hong. Method to Fast Global Motion Estimation Using Gyroscope with Ordinary Precision[J]. Journal of Beijing Institute of Technology(Natural Science Edition), 2012, 32(3): 316-321 |
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| Authors: | WANG Peng ZHAO Yue-jin JIAN Yi-yun DONG Li-quan LIU Xiao-hua WU Hong |
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| Affiliation: | School of Optoelectronics, Beijing Institute of Technology, Beijing 100081,China;School of Optoelectronics, Beijing Institute of Technology, Beijing 100081,China;School of Optoelectronics, Beijing Institute of Technology, Beijing 100081,China;School of Optoelectronics, Beijing Institute of Technology, Beijing 100081,China;School of Optoelectronics, Beijing Institute of Technology, Beijing 100081,China;School of Optoelectronics, Beijing Institute of Technology, Beijing 100081,China |
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| Abstract: | A fast global motion estimation algorithm is proposed by employing the gyro with ordinary precision to sense the camera status. Firstly gyro is used to sense the jitter of camera system, and the bearings (quadrant) of video jitter are achieved from the gyro output. Secondly, singular points of local motion vector are filtered using the acquired direction and position as the reference. Finally, global motion parameters are worked out using the least square method (LS). Experimental result shows that this algorithm has the advantages of fast operation, high accuracy of motion estimation and low precision requirement of gyro. Also it could effectively filter singular points stemming from either interference of local motion or error of calculation. |
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| Keywords: | gyro least square method global motion estimation |
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