一种基于点对的深度和运动估计方法  

Depth and Motion Estimation from Point Pairs

作　　者：钟志光[1] 易建强[1] 赵冬斌 

机构地区：[1]中国科学院自动化研究所复杂系统与智能科学实验室,北京100080

出　　处：《机器人》2005年第2期137-141,共5页Robot

基　　金：国家 973计划资助项目(2003CB517106).

摘　　要：针对基于模型的姿态估计问题提出了一种新颖的深度和运动估计方法.估计过程分为两步.首先根据由 3个模型点构成的 3个点对估计旋转矩阵.然后,根据 3个点对中的一个计算平移和深度.本文还提出了一种简单而有效的优化算法用于提高估计结果的精度.该估计方法的特点是独立地估计旋转矩阵,而且只需少量的模型点就能获得好的估计结果.模拟试验和实际试验结果表明了该方法的有效性.This paper presents a novel approach for depth and motion estimation, aiming at the model-based pose estimation problem. The estimation procedure consists of two steps. Firstly, it estimates the rotational matrix according to three point pairs constituted by three model points. Then, the translation vector and depths are computed from one of the three pairs. In order to enhance the precision of the estimated results, a simple and effective optimization algorithm is also proposed. The main advantages of this method are that it estimates the rotational matrix individually and can obtain good estimation results according to small number of model points. Experiments performed on synthetic data and real images demonstrate the effectiveness of this approach.

关 键 词：深度估计 运动估计 姿态估计 外部相机参数标定 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]