横滚角对P3P位姿测量方法鲁棒性的影响分析  

Influence of roll angle on robustness of P3P pose estimation

作　　者：朱枫[1,2] 郝颖明[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,沈阳110016 [2]中国科学院研究生院,北京100039

出　　处：《高技术通讯》2008年第10期1041-1046,共6页Chinese High Technology Letters

基　　金：863计划(2006AA704105)资助项目

摘　　要：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,研究了横滚角对 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如下结论:当横滚角为0°或±90°时,测量位姿的鲁棒性较好,而当横滚角为±45°或±135°时,测量位姿的鲁棒性最差。这一结论对位姿测量系统的设计具有一定的指导意义。From the view of engineering application, the influence of roll angle on the robustness of perspective-three-point （P3P） pose estimation under the conditions that three control points form an isosceles triangle and only the error of image coordinates was considered was studied. Firstly the relationship between the error of position and pose parameters and the error of image coordinates was deduced theoretically. And then, through the theoretical deduction under simplified condition and the statistical analysis under general condition, an important conclusion was obtained, which can be described as below： when the roll angle is 0° or ± 90°, the robustness of the pose estimation is relatively better; when the roll angle is ±45° or ±135°, the robustness is the worst. This conclusion is significant for the design and realization of a pose estimation system.

关 键 词：位姿测量 横滚角 鲁棒性 P3P 

分 类 号：TP391.7[自动化与计算机技术—计算机应用技术]