PnP问题的线性求解算法.pdfVIP

1000-9825/2003/14(03)0682 ©2003 Journal of Software 软 件 学 报 Vol.14, No.3 ∗ PnP 问题的线性求解算法 + 吴福朝 , 胡占义 ( 中国科学院 自动化研究所 模式识别国家重点实验室,北京 100080) A Linear Method for the PnP Problem + WU Fu-Chao , HU Zhan-Yi (National Laboratory of Pattern Recognition, Institute of Automation, The Chinese Academy of Sciences, Beijing 100080, China) + Corresponding author: Phn: 86-10 E-mail: fcwu@ /english/rv Received 2001-11-20; Accepted 2002-06-10 Wu FC, Hu ZY. A linear method for the PnP problem. Journal of Software, 2003,14(3):682~688. Abstract: The classical PnP problem (3≤n≤5) is inherently non-linear and generally of multiple solutions and sensitive to errors associated with image points. In the classical PnP problem, only a single image is involved. Inspired by the problems in robot navigation, the PnP problem is extended to the two-image case where the camera undergoes a pure translation between the two images. The obtained main results are: given two images of n known control points captured by a translating camera, (1) When n=3, the camera ’s pose and two scaling parameters of the two image axes can be linearly determined; (2) When n≥4, the camera’s pose and all its 5 intrinsic parameters can be linearly determined. In other words, the PnP problem with an uncalibrated camera can be linearly solved in this case. The results presented in this paper appears instructive from both theoretical and practical points of view. Key words: PnP problem; camera intrinsic parameter; camera pose 摘 要: 经典的PnP(3≤n≤5) 问题从本质上来说是非线性的,不但具有多解性而且对图像点的位置误差极为敏感.经 典PnP 问题仅涉及一幅图像,针对机器人导航中的实际需求,将PnP 问题扩展到了摄像机作平移运动下的两幅图像 的情况,并研究探讨了在这种情况下 PnP 问题的线性求解方法,主要结果有:给定平移运动下 n 个控制点的两幅图 像,(1) 当n ＝3 时,可线性求解摄像机的方位以及