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： 1142次
Method for Camera Pose Estimation Based on Weighted Optimization of Objective Functions
图 & 表
图 2. 不同方法中的物方残差对比
Fig. 2. Comparison of object-space collinearity errors for different methods
图 4. 各算法精度对比图。(a)旋转矩阵平均误差;(b)旋转矩阵中值误差;(c)平移向量平均误差;(d)平移向量中值误差
Fig. 4. Precision comparison among all algorithms. (a) Mean rotation error; (b) median rotation error; (c) mean translation error; (d) median translation error
图 5. 点数为4时各算法稳健性对比图。(a)旋转矩阵平均误差;(b)旋转矩阵中值误差;(c)平移向量平均误差;(d)平移向量中值误差
Fig. 5. Robustness comparison among all algorithms when point number is 4. (a) Mean rotation error; (b) median rotation error; (c) mean translation error; (d) median translation error
图 6. 点数为5时各算法稳健性对比图。(a)旋转矩阵平均误差;(b)旋转矩阵中值误差;(c)平移向量平均误差;(d)平移向量中值误差
Fig. 6. Robustness comparison among all algorithms when point number is 5. (a) Mean rotation error; (b) median rotation error; (c) mean translation error; (d) median translation error
表 1真实实验结果
Table1. Real experimental resultspixel
|
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.
PDF全文
