偏航角对P3P位姿测量鲁棒性的影响分析  

Influence Analysis of Yaw Angle to the Robustness of P3P

作　　者：朱枫[1] 欧锦军[1] 郝颖明[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：《微计算机信息》2008年第25期42-44,共3页Control & Automation

基　　金：国家自然科学基金委;项目名称:基于直线的单目视觉定位方法及鲁棒性研究;编号:60705011;申请人:欧锦军

摘　　要：本文从工程应用的角度出发,在三个控制点构成等腰三角形且仅考虑图像坐标检测误差的条件下,研究偏航角对P3P位姿测量方法鲁棒性的影响。首先在理论上推导出位姿参数误差与图像坐标检测误差间的关系,在此基础上通过简化条件下的理论推导结合一般条件下的统计分析得到当偏航角为0°时,测量位姿的鲁棒性较好。这一结论对位姿测量系统的设计具有一定的指导意义。In this paper, from the view of engineering application, under the condition that three control points formed an isosceles triangle and only the error of image coordinates was considered, the influence of yaw angle to the robustness of P3P pose estimation method was developed. Firstly the relationship between the error of pose parameters and the error of image coordinates can be ob-tained by theoretical deduction. Upon above analysis, based on the theoretical deduction under simplified condition and general statis-tical analysis, the following conclusion could be drawn. When the yaw angle was 0°, the robustness of pose estimation was relatively better. This conclusion is significant for the design and realization of pose estimation system.

关 键 词：位姿测量 偏航角 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]