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基于自适应重投影误差单目位姿优化算法

Monocular Pose Optimization Algorithm Based on Adaptive Reprojection Error

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摘要

为满足高速复杂流场中投放物位姿高精度测量的要求, 分析了图像噪声对位姿估计误差的影响。在传统非线性优化位姿算法的基础上, 提出了自适应重投影误差的单目位姿估计优化方法。该方法以位姿估计初值为中心设置了约束区间, 建立新的罚函数将约束非线性优化转化为无约束非线性优化, 分析像平面重投影误差与约束区间的关系并建立相应的数学模型, 根据模型自动调节约束区间, 基于自适应重投影误差对位姿估计参数进行约束非线性优化。仿真结果表明, 该方法在不同大小图像噪声下的重投影误差和位姿估计参数都有最优解, 且优于传统非线性优化算法, 具有较高的位姿估计精度。

Abstract

This study analyzes the effects of image noise on pose estimation error to meet the requirements of high-accuracy pose measurements in high-speed complex flow fields. A monocular pose estimation optimization algorithm of adaptive reprojection error is proposed based on the traditional nonlinear optimization pose algorithm. In the algorithm, the initial value of pose estimation is set as the center, wherein the constraint interval is set. A new penalty function is formulated to transform the constrained nonlinear optimization into an unconstrained nonlinear optimization. The relation between the image reprojection error and constraint interval is analyzed; then, the corresponding mathematical model is built based on the analysis results. The constraint interval is automatically adjusted according to the model to optimize the parameters of pose estimation for the constrained nonlinear adaptive reprojection error. The simulation results reveal that the proposed algorithm provides an optimal solution for the reprojection error and pose estimation parameters under different image noise levels. The proposed algorithm is superior to the traditional nonlinear optimization algorithm and has higher pose estimation accuracy.

Newport宣传-MKS新实验室计划
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中图分类号:TP391

DOI:10.3788/lop56.021204

所属栏目:仪器,测量与计量

基金项目:四川省科技厅重点项目(2018JY0463)、四川省信号与信息处理重点实验室开放研究基金项目(szjj2017-003)、教育部“春晖计划”科研项目(Z2017076)、西华大学“西华杯”大学生创新创业项目(2018010)

收稿日期:2018-07-04

修改稿日期:2018-07-24

网络出版日期:2018-08-02

作者单位    点击查看

周单:西华大学电气与电子信息学院, 四川 成都 610039
董秀成:西华大学电气与电子信息学院, 四川 成都 610039
张帆:西华大学电气与电子信息学院, 四川 成都 610039
陈威:西华大学电气与电子信息学院, 四川 成都 610039

联系人作者:周单(1076794241@qq.com)

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引用该论文

Zhou Dan,Dong Xiucheng,Zhang Fan,Chen Wei. Monocular Pose Optimization Algorithm Based on Adaptive Reprojection Error[J]. Laser & Optoelectronics Progress, 2019, 56(2): 021204

周单,董秀成,张帆,陈威. 基于自适应重投影误差单目位姿优化算法[J]. 激光与光电子学进展, 2019, 56(2): 021204

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