一种摄像机姿态估计方法  

Method for Camera Pose Estimation

作　　者：周维[1] 许海霞[1] 

机构地区：[1]湘潭大学信息工程学院,湘潭411105

出　　处：《系统仿真学报》2011年第12期2582-2587,共6页Journal of System Simulation

基　　金：国家自然科学基金资助项目(60773047);湘潭大学自然科学研究项目(09XZX24);湖南省教育厅一般项目(10C1269;11C1214)

摘　　要：提出一种摄像机姿态估计方法,线性确定摄像机姿态及标定相机矩阵。将n个控制点组成n-1个独立矢量,根据成像过程,构建起基于矢量运算的摄像机姿态和相机矩阵的线性约束方程。依据线性理论,及旋转阵R的正交性化简、表达约束方程,通过矢量运算给出摄像机姿态和相机矩阵的解析解,模拟和真实实验都验证了该方法的有效性。An algorithm was proposed for camera pose estimation,and it could determine linearly camera pose and camera intrinsic.Firstly,n control points were formed into n-1 independent vectors.According to the process of image formation,the constraint equations in camera pose and intrinsic parameter were set up linearly through vector operation of control points.Then,these equations were simplified and determined in terms of linear theory and the orthogonal relation of rotation R.As a result,the analytic solutions of camera pose and intrinsic parameter matrix were obtained via vector cross or inner product operation.Simulated and real experiments illustrate that the proposed algorithm is effective.

关 键 词：机器视觉 姿态估计 PNP问题 P5P问题 矢量运算 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]