激光与光电子学进展, 2019, 56 (4): 041503, 网络出版: 2019-07-31
基于目标函数加权优化的相机位姿估计算法 下载: 1134次
Method for Camera Pose Estimation Based on Weighted Optimization of Objective Functions
机器视觉 相机位姿估计 目标函数 物方残差 像方残差 加权 稳健性 machine vision camera position estimation objective function object-space collinearity errors image-space collinearity errors weighting robustness
摘要
提出了一种结合物方残差和像方残差的加权迭代位姿计算方法。在高精度快速位姿估计算法(EPn P)的基础上,加入改进的自适应加权物方残差目标函数迭代算法来优化结果,并以迭代后的平均像方残差作为最小误差判决阈值来修正误差较大的参数。实验结果表明,所提方法可以极大地提高非冗余情况下EPn P算法中位姿参数的计算精度和稳健性。在参考点充足的情况下,维持了EPn P算法的高精度,具有较高的实用价值。
Abstract
A weighted iterative pose estimation method is proposed, which combines the object-space errors and image-space collinearity errors. Based on the efficient perspective-n-point (EPnP) algorithm, an improved iterative algorithm with adaptive weighted object-space collinearity error function is added to optimize the results, and the average image-space collinearity error after iteration is used as the minimum error decision threshold to correct the parameters with relatively large errors. The experimental results show that this proposed method can greatly improve the accuracy and robustness of the pose parameters of the EPnP algorithm in the non-redundant situations. Moreover, it can maintain the high precision of the EPnP algorithm and possess high practical value in the condition of sufficient reference points.
凌寒羽, 王培元. 基于目标函数加权优化的相机位姿估计算法[J]. 激光与光电子学进展, 2019, 56(4): 041503. Hanyu Ling, Peiyuan Wang. Method for Camera Pose Estimation Based on Weighted Optimization of Objective Functions[J]. Laser & Optoelectronics Progress, 2019, 56(4): 041503.