| 由特征点的空间位置估计运动参数 |
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| 引用本文： | 徐文立,刘文煌.由特征点的空间位置估计运动参数[J].自动化学报,1992,18(4):440-447. |
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| 作者姓名： | 徐文立 刘文煌 |
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| 作者单位： | 1.清华大学自动化系,北京 |
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| 基金项目： | 国家教委、清华大学资助 |
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| 摘 要： | 确定被观察物体和摄像机之间的三维相对运动是计算机视觉领域的一个重要课题.假定
物体上有若干特征点,它们在空间的位置已由双目视觉求得.在此假定下,本文讨论如何由特
征点空间位置的观察值来估计运动参数.现有文献中所用的目标函数导致的是一个非线性最
优化问题.本文利用凯莱(Cayley)定理提出一种新的目标函数,它导致的是一个十分简单的
线性最小二乘问题.文中还讨论了这两种目标函数之间的关系.
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| 关 键 词： | 计算机视觉 三维运动 四元数 RS分解 凯莱公式 |
| 收稿时间： | 1991-6-13 |
Estimating Motion Parameters From Position Vectors of Feature Points |
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| Xu Wenli,Liu Wenhuang.Estimating Motion Parameters From Position Vectors of Feature Points[J].Acta Automatica Sinica,1992,18(4):440-447. |
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| Authors: | Xu Wenli Liu Wenhuang |
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| Affiliation: | 1.Dept.of Automation,Tsinghua University |
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| Abstract: | Determining the 3-D relative motion between the camera and the viewed object is an important topic in the field of computer vision. Assume that there are some feature points on the object and their positions in space have been recovered by the stereo vision, this paper discusses how to estimate the motion parameters from the observed position vectors of the feature points. The objective function available in the literatures lead to a nonlinear optimization problem. A new objective function based on the Cayley's theorem is presented in this paper. The relationship between the two objective functions is also discussed. |
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| Keywords: | Computer vision 3-D motion quaternion RS decomposition Cayley's formula |
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