基于点特征的位姿测量系统鲁棒性分析  

Robustness analysis of pose estimation based on points

作　　者：郝颖明[1] 朱枫[1] 欧锦军[1] 吴清潇[1] 周静[1] 付双飞[1] 

机构地区：[1]中国科学院沈阳自动化研究所

出　　处：《计算机应用》2008年第7期1713-1716,1720,共5页journal of Computer Applications

基　　金：国家自然科学基金资助项目(60705011)

摘　　要：从工程应用的角度出发,在P3P问题有唯一解的条件下,研究位姿误差对图像坐标检测误差的鲁棒性。通过简化条件下的理论推导并结合一般条件下的仿真实验,证明了由图像坐标检测误差引起的位姿误差随摄像机焦比的增大而减小。与主点坐标无关,随着目标模型中特征点间距离的增大而减小,随着测量距离的增大而增大等结论。这些结论对位姿测量系统的设计具有一定的指导意义。From the perspective of practical application, the robustness of pose estimation with coordinate detection error was discussed, given that P3P issue has exclusive solution. With the theoretical derivation on simplified condition and the simulation on normal condition, some conclusions have been obtained such as the pose estimation error is decreases with increment of camera focus ratio, is independent to the coordlllate of image center point, decreases with the increment of distance between control points in object model, increases with the increment of estimation distance, etc. All these conclusions are significant to the design of pose estimation system.

关 键 词：位姿测量 鲁棒性 P3P 

分 类 号：TP391.4[自动化与计算机技术—计算机应用技术]