Robust analysis of P3P pose estimation
文献类型：会议论文
| 作者 | Hao YM(郝颖明) ; Zhu F(朱枫); Ou JJ(欧锦军); Wu QX(吴清潇); Zhou J(周静); Fu SF(付双飞)
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| 出版日期 | 2007 |
| 会议名称 | IEEE International Conference on Robotics and Biomimetics (ROBIO 2007) |
| 会议日期 | December 15-18, 2007 |
| 会议地点 | Sanya, China |
| 关键词 | pose estimation P3P problem robust analysis |
| 页码 | 222-226 |
| 中文摘要 | In this paper, the robustness of pose estimation, which is relative to the input error, is investigated from the view of actual projects, with the P3P problem having unique solution. Firstly the relation between pose error and input error is deduced theoretically. Then we principally analyze the relation between the robustness of pose estimation which relates to measuring error of image coordinates, and intrinsic parameters of pose estimation system. Through theoretical deduction under simple condition and simulation experiments under common condition, we obtain several useful conclusions, i.e. the pose error caused by the measuring error of image coordinates is inversely proportional to camera's focus ratio; the pose error is independent of image center coordinate; however, it decreases when the interval between the control points of the target model increases, a contrary instance happens on the measuring distance. The conclusion above may provide guidance for designing a pose estimation system. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议主办者 | IEEE Robot & Automat Soc, Shandong Univ, Chinese Univ Hong Kong, Chiba Inst Technol, Robot Soc Japan, Soc Instrument & Control Engn, Japan Soc Mech Engn, ROBIO Fdn |
| 会议录 | 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-5
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| 会议录出版者 | IEEE |
| 会议录出版地 | NEW YORK |
| 语种 | 英语 |
| ISBN号 | 978-1-4244-1761-2 |
| WOS记录号 | WOS:000257065800040 |
| 源URL | [http://ir.sia.cn/handle/173321/8019]  |
| 专题 | 沈阳自动化研究所_光电信息技术研究室 |
| 推荐引用方式 GB/T 7714 | Hao YM,Zhu F,Ou JJ,et al. Robust analysis of P3P pose estimation[C]. 见:IEEE International Conference on Robotics and Biomimetics (ROBIO 2007). Sanya, China. December 15-18, 2007. |
入库方式： OAI收割
来源：沈阳自动化研究所
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