一种快速加权迭代位姿估计法  

A Fast Weighted Iterative Pose Estimation Method

作　　者：刘晨阳 郑龙江[1] 侯培国[1] Liu Chenyang;Zheng Longjiang;Hou Peiguo(School of Electrical Engineering,Yanshan University,Qinghuangdao 066000,Hebei,China)

机构地区：[1]燕山大学电气工程学院,河北秦皇岛066000

出　　处：《激光与光电子学进展》2022年第18期379-386,共8页Laser & Optoelectronics Progress

摘　　要：位姿估计是机器视觉中的重要问题,传统正交迭代位姿估计算法迭代速度较慢,选用弱透视变换为初值点进行迭代且计算结果容易陷入局部最优解。针对此情况,提出一种改进的正交迭代位姿估计算法。通过克罗内克积对物方残差目标函数进行优化,在保证迭代精度的前提下,降低正交迭代的复杂度,提高算法计算速度;利用加权的思想,求得图像上参考点与重投影点距离差值,对像方残差赋予不同的权重,降低误差点对计算结果的影响。仿真实验与真实实验表明,与传统正交迭代法以及线性位姿估计算法相比,该算法有效地提高了计算精度、加快了计算速度,并且全局收敛,具有较高的实用性。Pose estimation is a major concern in machine vision.The iterative speed of the basic overlap pose estimation algorithm is slow.The initial point for iteration is selected as a weak perspective transformation,and the calculation result is easy to fall into the local optimal solution.Given this situation,this study proposes an improves forward overlapping pose estimation algorithm.Kronecker’s product optimizes the objective function of matter square residual,which reduces the complexity of orthogonal iterations and improves the calculation speed while ensuring iteration accuracy.The difference between the reference point and the reprojection point on the image is calculated using the idea of weighting,and different weights are given to the image square residual to reduce the effect of the error points on the results.The simulation and real experiments,when compared with the traditional normal superposition method and linear pose estimation algorithm,show that the algorithm effectively improves the calculation accuracy,speeds up the calculation speed,converges globally,and has higher practicability.

关 键 词：机器视觉 位姿估计 正交迭代 加权迭代 全局收敛 

分 类 号：TP391.41[自动化与计算机技术—计算机应用技术]