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同时考虑测角与定位误差的相机姿态估计算法

Camera Pose Estimation Algorithm Considering Angle and Position Errors

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摘要

针对测角误差与定位误差对精度的影响持平的高精度场合, 提出了能够同时考虑测角误差与定位误差的相机姿态估计算法。在传统最小二乘平差相机姿态估计算法的迭代过程中, 将定位误差的协方差投影到单位球面上并与测角误差的协方差融合; 用块松弛迭代法解决投影过程依赖于待估计参数的问题; 用融合后的协方差作为权重构建加权最小二乘平差方程; 从平差方程中解出融合定位与测角误差的相机姿态在当前迭代状态下的估计值。该方法统一了位置测量误差模型与角度测量误差模型, 实验结果表明其可有效应用于导弹发射车定向系统。

Abstract

For high-precision situation that the impact of angle error on precision is comparable with the impact of position error, a camera pose estimation algorithm that can fuse the angle and position errors is proposed. The covariance of position error is projected onto a unit sphere and fused with the covariance of angle error in the iterative process of position estimation algorithm of traditional least squares adjustment camera. The problem that the projection progress depends on the parameters to be estimated is solved with block relaxation iteration method. The weighted least squares adjustment equation is constructed using the covariance. From the adjustment equation, the estimated values of camera pose in the current iteration are obtained, which combine the position and angle errors. The proposed algorithm unifies the measurement models of the position error and angle error. Experimental results show the effectiveness of the proposed algorithm applied in orientation system for missile vehicle.

Newport宣传-MKS新实验室计划
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中图分类号:TP391.4

DOI:10.3788/lop55.093601

所属栏目:快报

基金项目:航空基金(20150153002)

收稿日期:2018-07-31

修改稿日期:2018-08-02

网络出版日期:2018-08-08

作者单位    点击查看

何颖:西北工业大学自动化学院, 陕西 西安 710129
马戎:西北工业大学自动化学院, 陕西 西安 710129
李岁劳:西北工业大学自动化学院, 陕西 西安 710129
郭强:西北工业大学自动化学院, 陕西 西安 710129

联系人作者:何颖(cnheying@qq.com)

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【2】Zheng Y, Kuang Y, Sugimoto S, et al. Revisiting the PnP problem: a fast, general and optimal solution[C]∥2013 IEEE International Conference on Computer Vision, December 1-8, 2013, Sydney, NSW, Australia. New York: IEEE, 2013: 2344-2351.

【3】Urban S, Leitloff J, Hinz S. MLPnP-a real-time maximum likelihood solution to the perspective-n-point problem[J]. ISPRS Annals of Photogrammetry, Remote Sensing and Spatial Information Sciences, 2016, Ⅲ-3: 131-138.

【4】Lange K. Block Relaxation[M]. New York: Springer, 2013: 171-183.

【5】Gallego G, Yezzi A. A compact formula for the derivative of a 3-D rotation in exponential coordinates[J]. Journal of Mathematical Imaging and Vision, 2015, 51(3): 378-384.

【6】He Y, Li S L, Guo Q. Position and orientation method for missile vehicle by observing landmarks[J]. Chinese Journal of Scientific Instrument, 2016, 37(4): 751-756.
何颖, 李岁劳, 郭强. 基于地标观测的导弹发射车定位定向算法[J]. 仪器仪表学报, 2016, 37(4): 751-756.

引用该论文

He Ying,Ma Rong,Li Suilao,Guo Qiang. Camera Pose Estimation Algorithm Considering Angle and Position Errors[J]. Laser & Optoelectronics Progress, 2018, 55(9): 093601

何颖,马戎,李岁劳,郭强. 同时考虑测角与定位误差的相机姿态估计算法[J]. 激光与光电子学进展, 2018, 55(9): 093601

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