A high accuracy method for pose estimation based on rotation parameters
文献类型：期刊论文
| 作者 | Yan, Kun1,2; Zhao, Rujin1; Tian, Hong1; Liu, Enhai1; Zhang, Zhuang1,2 |
| 刊名 | MEASUREMENT
 |
| 出版日期 | 2018-07-01 |
| 卷号 | 122页码:392-401 |
| 关键词 | Machine vision Algorithms Three-dimensional sensing PnP |
| ISSN号 | 0263-2241 |
| DOI | 10.1016/j.measurement.2018.02.013 |
| 文献子类 | J |
| 英文摘要 | In this paper, A high-precision pose estimation method based on rotation parameters is proposed. By introducing the parameterization of rotation matrix, we first formulate a nonlinear least-squares cost function whose optimality conditions constitute a system of three third-order polynomials. Then, based on Grobner basis method, we solve the solution of polynomial equation directly, and then the attitude is calculated by back-substitution method. More importantly, one of the main advantages of our method is scalability, because the order of the polynomial equations we solve is independent of the number of points involved in the estimation. Finally, we compare the performance of our algorithm with the leading PnP method, both in simulations and experiments, and show that the proposed method achieves the accuracy of approaching the OPnP (optimal solution to the PnP problem). |
| 语种 | 英语 |
| WOS记录号 | WOS:000429508900046 |
| 源URL | [http://ir.ioe.ac.cn/handle/181551/9310]  |
| 专题 | 空天部 |
| 作者单位 | 1.Institute of Optics and Electronics of Chinese Academy of Sciences, Chengdu; 610209, China; 2.University of Chinese Academy of Sciences, Beijing; 100149, China |
| 推荐引用方式 GB/T 7714 | Yan, Kun,Zhao, Rujin,Tian, Hong,et al. A high accuracy method for pose estimation based on rotation parameters[J]. MEASUREMENT,2018,122:392-401. |
| APA | Yan, Kun,Zhao, Rujin,Tian, Hong,Liu, Enhai,&Zhang, Zhuang.(2018).A high accuracy method for pose estimation based on rotation parameters.MEASUREMENT,122,392-401. |
| MLA | Yan, Kun,et al."A high accuracy method for pose estimation based on rotation parameters".MEASUREMENT 122(2018):392-401. |
入库方式： OAI收割
来源：光电技术研究所
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