基于EIV模型的点线位姿估计  

Pose Estimation for Noisy Points or Lines Based on EIV Model

作　　者：汪俊文[1] 侯庭波[1] 朱枫[1] 

机构地区：[1]中国科学院沈阳自动化研究所

出　　处：《计算机工程》2008年第6期224-226,239,共4页Computer Engineering

基　　金：国家自然科学基金资助项目(60575024)

摘　　要：针对基于多个点线特征的位姿估计问题,该文将点线特征约束统一成二次型约束的形式,并引入EIV模型描述影响点线特征投影的噪声。为了简化问题,采用伪线性化方法,并提出了基于奇异值分解的迭代算法来估计位姿参数。实验表明该算法受初始值影响小,收敛快,能够提供高精度和鲁棒的位姿估计结果。For the pose estimation problem using n points or n lines, this paper turns the point or line correspondences into the unified quadratic forms. Since the 2D perspective projection point or line features are corrupted by noise, it introduces EIV model to describe it. It also emploies pseudo-linearization to simplify the problem and proposes an iterative algorithm based on SVD to estimate the pose parameters. The method has a weaker dependence on the initial solution and a fast convergence. Experimental results demonstrate the reliable accuracy and robustness of the method.

关 键 词：双重四元数 EIV模型 位姿估计 

分 类 号：TP311[自动化与计算机技术—计算机软件与理论]