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题名: Robust and accurate online pose estimation algorithm via efficient three-dimensional collinearity model
作者: Fan BJ(范保杰) ; Du YK(杜英魁) ; Cong Y(丛杨)
作者部门: 机器人学研究室
关键词: iterative methods ; pose estimation ; online pose estimation algorithm ; three-dimensional collinearity model ; noncoplanar point configuration ; coplanar point configuration ; principle depth ; relative depth ; iterative point ; camera coordinate system ; three-dimensional point set ; 3D mode point set
刊名: IET COMPUTER VISION
ISSN号: 1751-9632
出版日期: 2013
卷号: 7, 期号:5, 页码:382-393
收录类别: SCI ; EI
产权排序: 2
摘要: In this study, the authors propose a robust and high accurate pose estimation algorithm to solve the perspective-N-point problem in real time. This algorithm does away with the distinction between coplanar and non-coplanar point configurations, and provides a unified formulation for the configurations. Based on the inverse projection ray, an efficient collinearity model in object-space is proposed as the cost function. The principle depth and the relative depth of reference points are introduced to remove the residual error of the cost function and to improve the robustness and the accuracy of the authors pose estimation method. The authors solve the pose information and the depth of the points iteratively by minimising the cost function, and then reconstruct their coordinates in camera coordinate system. In the following, the optimal absolute orientation solution gives the relative pose information between the estimated three-dimensional (3D) point set and the 3D mode point set. This procedure with the above two steps is repeated until the result converges. The experimental results on simulated and real data show that the superior performance of the proposed algorithm: its accuracy is higher than the state-of-the-art algorithms, and has best anti-noise property and least deviation by the influence of outlier among the tested algorithms.
语种: 英语
WOS记录号: WOS:000326175300010
WOS标题词: Science & Technology ; Technology
类目[WOS]: Computer Science, Artificial Intelligence ; Engineering, Electrical & Electronic
关键词[WOS]: OBJECT POSE ; PERSPECTIVE ; IMAGES ; LINES
研究领域[WOS]: Computer Science ; Engineering
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内容类型: 期刊论文
URI标识: http://ir.sia.cn/handle/173321/14048
Appears in Collections:机器人学研究室_期刊论文

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Recommended Citation:
范保杰; 杜英魁; 丛杨.Robust and accurate online pose estimation algorithm via efficient three-dimensional collinearity model,IET COMPUTER VISION,2013,7(5):382-393
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