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浙江大学学报(工学版)  2018, Vol. 52 Issue (1): 151-159    DOI: 10.3785/j.issn.1008-973X.2018.01.020
自动化技术     
基于三视图几何约束的摄像机相对位姿估计
张振杰, 李建胜, 赵漫丹, 张小东
信息工程大学 导航与空天目标工程学院, 河南 郑州 450000
Camera pose estimation based on three-view geometry constraint
ZHANG Zhen-jie, LI Jian-sheng, ZHAO Man-dan, ZHANG Xiao-dong
School of Navigation and Aerospace Engineering, Information Engineering University, Zhengzhou 450000, China
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摘要:

针对从影像中恢复摄像机位姿的问题,提出基于三视图几何约束的位姿估计算法.利用强制选择机制对影像进行特征点提取,通过光流法和前后向误差实现相邻三帧影像的特征点匹配;推导基于本质矩阵优化分解的位姿估计,利用对极几何约束构建目标函数,通过迭代优化确定旋转矩阵的唯一解,优化了唯一解的确定方法,提高了相对位姿估计效率,得到第1、2摄像机矩阵;基于三视图的几何约束关系,由三焦点张量和匹配特征点建立目标函数,由迭代过程得到第3摄像机相对于第1摄像机的位姿参数.结果表明,提出算法的鲁棒性、精度以及算法效率均优于传统算法,能够快速、准确地估计摄像机相对位姿,可以实现对旋翼无人机的轨迹跟踪.

Abstract:

A novel pose estimation method based on three-view geometry constraint was proposed in order to solve camera pose estimation from image sequence. Image feature points were detected by using brute force selection mechanism, and feature points were matched based on optical flow algorithm and forward-backward error. Then pose estimation based on improved essential matrix decomposition was deduced. Object function was established according to epipolar geometry constraint, and rotation matrix was iteratively computed. Then a unique solution was obtained. The first and second camera projective matrices were obtained. The object function was built based on trifocal tensor and matching points, and the third camera pose matrix that was relative to the first camera was iteratively computed. Results show that the proposed method improves the robust, position accuracy and efficiency. The method can achieve a precision estimation fast and estimate the trajectory of rotor UAV.

收稿日期: 2017-09-07 出版日期: 2017-12-15
CLC:  TP391  
基金资助:

国家自然科学基金资助项目(2015AA7034057A).

通讯作者: 李建胜,男,教授.orcid.org/0000-0002-5216-503X.     E-mail: ljszhx@vip.sina.com
作者简介: 张振杰(1988-),男,博士生,从事视觉导航的研究.orcid.org/0000-0001-6557-0758.E-mail:zzjxiaodao@126.com
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引用本文:

张振杰, 李建胜, 赵漫丹, 张小东. 基于三视图几何约束的摄像机相对位姿估计[J]. 浙江大学学报(工学版), 2018, 52(1): 151-159.

ZHANG Zhen-jie, LI Jian-sheng, ZHAO Man-dan, ZHANG Xiao-dong. Camera pose estimation based on three-view geometry constraint. JOURNAL OF ZHEJIANG UNIVERSITY (ENGINEERING SCIENCE), 2018, 52(1): 151-159.

链接本文:

http://www.zjujournals.com/eng/CN/10.3785/j.issn.1008-973X.2018.01.020        http://www.zjujournals.com/eng/CN/Y2018/V52/I1/151

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