一种简单的可得到闭式解的姿态估计方法

针对基于模型的姿态估计问题提出了一种新颖的深度估计算法,该算法能根据特征点对而不是单个的特征点与相机的几何关系,直接计算出相机运动前后特征点的深度.根据该深度估计技术,进一步提出了一种简单的可得到闭式解的运动参数估计方法.该姿态估计方法实时性高、便于实际应用,其方法的有效性得到了实验验证.

A Simple and Obtainable Close-formed Solution for Pose Estimation

This paper first presents a novel model-based algorithm for the pose depth estimation. Depending on the geometric relationship between a camera and feature point pairs instead of an individual point, the algorithm directly calculates the depth of the feature point for the moment prior-and-post camera motion. Based on the depth estimation, also proposed is a simple motion parameter estimation method by which the close-formed solution can be obtained. The proposed approach is characterized in being able to obtain the close-formed solution based on the feature points, and real time applicable. Adequacy of the presented algorithm is validated by the experimental results, as presented in this research.