单目视觉位姿测量的线性求解.pdfVIP

学兔兔 第32卷 第5期 仪 器 仪 表 学 报 V01．32 No．5 2011年5月 Chinese Journal of Scientific Instrument Mav．2011 单目视觉位姿测量的线性求解 王 鹏，孙长库，张子淼 (天津大学精密测试技术及仪器国家重点实验室 天津 300072) 摘 要：利用定位特征点在图像中的坐标求解空间位姿算法是单目视觉位姿测量技术中的关键。针对这个问题，在距离因子 的基础上建立了非线性的位姿测量模型。利用代数变换方法将非线性测量模型转化成线性非齐次方程组。根据代数变换过程 中变量之间的相互关系，建立方程组通解之间的乘积关系方程组。再次利用代数变换对乘积关系进行线性变换，并利用P4P问 题中共面特征点姿态测量唯一解的特性，实现位姿测量的线性求解。通过数值仿真和实际测量两个试验对该位姿测量算法进 行了精度验证，试验数据表明该方法可以有效抑制图像噪声干扰，提高位姿测量的精度。 关键词：位姿测量；线性求解；P4P；共面点 中图分类号：TP242．6 文献标识码：A 国家标准学科分类代码：460．4010 Linear pose estimation with a monocular vision system Wang Peng，Sun Changku，Zhang Zimiao (StateKeyLaboratory ofPrecisionMeasuring Technology andIr~truraents，Tianjin e ，Tianjin 300072，China) Abstract：The algorithm that determines the target position and orientation according to the image coordinates of ref- erence points is very important in pose estimate technique．Aiming at this issue，a nonlinear pose estimate mathemat— ic model is established on the basis of distance factor．With algebraic transformational method，the nonlinear math- ematic model is transformed into a linear nonhomogeneous equation system．The product relationship between the general solutions of the equation system is obtained according to the variable relation in the algebraic transformation． Considering the unique solution of pose estimate problem with four coplanar reference points，using the algebraic transformational method again，the linear pose estimation is realized．Both simulation and real data experiments are used to examine the accuracy and stability of the pose estimate algorithm．Experiment result shows that the proposed algorithm can reduce the interference of image noise and improve pose estima