激光与光电子学进展, 2018, 55 (9): 093601, 网络出版: 2018-09-08
同时考虑测角与定位误差的相机姿态估计算法 下载: 521次
Camera Pose Estimation Algorithm Considering Angle and Position Errors
机器视觉 姿态估计 定位误差 测角误差 物体空间误差 重投影误差 machine vision pose estimation position error angle error object space error reprojection error
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.
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. 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.