摄像机主动位姿协同的人脸正视图像获取方法
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王雯涛,李佳田,吴华静,高鹏,阿晓荟,朱志浩
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Camera active pose cooperation for obtaining face frontal images
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Wen-tao WANG,Jia-tian LI,Hua-jing WU,Peng GAO,Xiao-hui A,Zhi-hao ZHU
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表 5 摄像机位置变化量与步进电机脉冲输入量 |
Tab.5 Camera position change and stepper motor pulse input |
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位置变化 | x轴 | | y轴 | | u轴 | Tx/mm | P/PPU | | Ty/mm | P/PPU | | Rω/rad | P/PPU | P1→P2 | 5.809 | 1452.25 | | 0.049 | 12.25 | | 0.0837 | 59.757 | P2→P3 | 7.168 | 1792.00 | | −0.018 | −4.50 | | 0.0361 | 48.966 | P3→P4 | 10.735 | 2683.75 | | 0.142 | 35.50 | | 0.0697 | 52.631 | P4→P5 | 4.731 | 1182.75 | | 0.099 | 24.75 | | 0.0588 | 49.678 | P6→P7 | 7.847 | 1961.75 | | 0.054 | 13.50 | | 0.0751 | 68.308 | P7→P8 | 13.574 | 3393.5 | | 0.098 | 24.50 | | 0.0772 | 58.230 | P8→P9 | 15.684 | 3921 | | 0.093 | 23.25 | | 0.0315 | 29.013 | P9→P10 | 10.944 | 2736 | | 0.026 | 6.50 | | 0.0352 | 38.888 |
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