Pose optimization based on integral of the distance between line segments  

作　　者：ZHANG YueQiang LI Xin LIU HaiBo SHANG Yang YU QiFeng 

机构地区：[1]College of Aerospace Science and Engineering,National University of Defense Technology,Changsha 410073,China [2]Hunan Provincial Key Laboratory of linage Measurement and Vision Navigation,Changsha 410073,China

出　　处：《Science China(Technological Sciences)》2016年第1期135-148,共14页中国科学（技术科学英文版）

基　　金：supported by the National Basic Research Program of China(“973”Project)(Grant No.2013CB733100);National Natural Science Foundation of China(Grant No.11332012)

摘　　要：In this paper, new solutions for the problem of pose estimation from correspondences between 3D model lines and 2D image lines are proposed. Traditional line-based pose estimation methods rely on the assumption that the noises(perpendicular to the line) for the two endpoints are statistically independent. However, these two noises are in fact negatively correlated when the image line segment is fitted using the least-squares technique. Therefore, we design a new error function expressed by the average integral of the distance between line segments. Three least-squares techniques that optimize both the rotation and translation simultaneously are proposed in which the new error function is exploited. In addition, Lie group formalism is utilized to describe the pose parameters, and then, the optimization problem can be solved by means of a simple iterative least squares method. To enhance the robustness to outliers existing in the match data, an M-estimation method is developed to convert the pose optimization problem into an iterative reweighted least squares problem. The proposed methods are validated through experiments using both synthetic and real-world data. The experimental results show that the proposed methods yield a clearly higher precision than the traditional methods.

关 键 词：machine vision perspective-n-line problem line distance function pose optimization M-estimation 

分 类 号：TP391.41[自动化与计算机技术—计算机应用技术] O224[自动化与计算机技术—计算机科学与技术]