基于IEKF视觉运动分析递归算法的研究

本文提出基于图象序列上特征点的图象平面轨迹进行运动参数估计，以提取运动物体的姿态、速度以及外部环境内所感兴趣点的位置参数，由于图象特征点轨迹与待估计的参数有关，因此能够组合长序列图象内的信息并利用ＩＥＫＦ递归地估计未知的运动及结构参数。

Recursive Algorithm for Visual Motion Analysis Based on IEKF

This paper proposes an algorithm for extracting the pose and velocity of the moving objects and the 3-D location of interest points in the external environments,based on the image plane trajectories of salient points over the image sequence.These trajectories are related to the parameters to be estimated using motion model and imaging model,making it possible to incorporate the information contained in long image sequences and to estimate unknown motion and structure parameters using an IEKF.