基于视觉的快速、鲁棒相对位姿解算  

Fast and Robust Calculation Method of Vision-based Relative Position and Orientation

作　　者：宋春华[1] 崔蓝月[1] 程咏梅[1] 

机构地区：[1]西北工业大学,自动化学院,陕西西安710072

出　　处：《电力电子技术》2013年第2期47-49,共3页Power Electronics

基　　金：航空科学基金(20100853010)~~

摘　　要：基于视觉的相对位姿非线性迭代计算方法在初始值选取不当、存在量测误差、视觉测量系统与合作目标距离过小时,会产生迭代计算收敛慢、相对位姿计算误差大、甚至出错等问题。将线性弱透视变换、景深估计以及奇异值分解方法应用于基于视觉的相对位姿计算,提出基于视觉的快速、鲁棒相对位姿计算方法。该方法可自寻初值,抗量测噪声干扰,克服数据恶化时因旋转矩阵的错误带来的误差。仿真结果表明该方法迭代计算收敛快、解算精度高、鲁棒性好。The method of nonlinear iterative calculation based on the visual relative position and orientation will lead to slow convergence of iterative calculation, the large calculation error of relative position and orientation, and even wrong result, when selection of the initial value is improper, the measurement error exists ,and distance between visual test system and the cooperation objectives is too small.It is applied to calculate the relative position and orientation that the linear weak perspective transformation, the estimated of depth of field and the singular value decomposition method.A fast and robust calculation method of vision-based relative position and orientation is proposed.This method can find their initial value ,resist the measurement noise, and overcome the error caused by the calculation error of the rotation matrix when data deteriorates.Simulation results show that the method has fast convergence,high preci- sion, and great robustness.

关 键 词：视觉 相对位姿 鲁棒解算方法 

分 类 号：R339.14[医药卫生—人体生理学]