一种新的基于直线的定位方法

我们通常采用任意摆放位置的三条直线来完成三维物体定位. 对于交于两点的三条非共面直线这种配置, 它具有位置任意摆放三条直线不具有的一些特殊性质. 因此, 我们基于这种特殊配置直线提出一种确定物体位姿的新方法. 在理论上, 这种方法是对基于三条直线位姿估计方法的丰富, 同时这种方法也能为实际工程应用提供支持. 而且, 我们提出一种解决多解现象的方法和一种新的迭代方法. 最后, 仿真实验表明我们的算法具有较快的工作速度和较好的鲁棒性.

A New Method for Pose Estimation from Line Correspondences

We can usually determine the pose of objects from three lines in a general position.The configuration of three non- coplanar lines that intersect at two points has some particular characteristics,which three lines in a general position do not have. Here,we present a new method of determining object pose using this particular line configuration.In theory,this method enriches the pose estimation methods from three line correspondences.In addition,it provides guidance for practical applications.Furthermore, we propose a method to deal with multi-solution phenomenon and a new iterative method.Simulation results demonstrate that our algorithm works speedily and robustly.