基于单个平行四边形单幅图像的物体定位  

Pose Determination from a Single Image of a Single Parallelogram

作　　者：孙凤梅[1] 王卫宁[2] 

机构地区：[1]北方工业大学理学院,北京100041 [2]首都师范大学物理系,北京100037

出　　处：《自动化学报》2006年第5期746-752,共7页Acta Automatica Sinica

基　　金：国家自然科学基金(60375006);国家863计划基金(2005AA118020)资助

摘　　要：主要讨论基于单个平行四边形单幅图像的物体定位方法．主要结论有:如果平行四边形的两组边长均未知的话,则从该平行四边形的单幅图像,仅可以确定物体坐标系与摄像机坐标系之间的旋转矩阵和平移向量的方向,平移向量的大小无法确定．当知道平行四边形任一组边长时,旋转矩阵和平移向量均可以唯一确定．另外,诸如相邻边长之比,相邻边之间的夹角等信息,由于它们不是射影不变量,所以它们对基于单幅图像的物体定位来说,提供不了任何有用的额外信息．Pose determination by a single image of a single space parallelogram is investigated in this work. The main results are： If only a single image of a single parallelogram is known, the rotation matrix and direction of the translation vector from the camera system to the object system can be determined. If the length of one of the parallelogram/s sides is also known, the translation vector can also be determined. In addition, we show that the entities such as the length-ratio of two adjacent sides and the including angle of two adjacent sides of the parallelogram, since they are not projective invariants, cannot provide any additional useful constraints on the pose parameters.

关 键 词：物体定位 平行四边形 PNP问题 

分 类 号：TP391.41[自动化与计算机技术—计算机应用技术]