基于虚拟控制点的像机姿态测量算法

像机姿态测量，包括确定像机的旋转矩阵与平移向量，在机器视觉领域中有着非常广泛的应用。针对控制点异面分布的情况，提出了一种基于虚拟控制点的像机姿态测量算法。算法的主要思想是利用少量虚拟控制点实现像机姿态的短时间迅速求解，然后通过目前非常成熟的正交迭代算法，对求解结果进行精细调节，从而在整体上提高测量算法的精确度与稳定性。实验结果表明，算法在性能上优于目前比较流行的几种像机姿态迭代求解算法，而且具有较强的抗噪声干扰和抗控制点误匹配的能力，可以应用在实际的测量环境当中，是一种有效的像机姿态测量算法。

Camera Pose Estimation Based on Virtual Control Points

Camera pose estimation, including the estimation of rotation matrix and translation vector, has extensive applications in machine vision area. In this paper, an iterative algorithm based on virtual control points is proposed. The basic idea is to acquire the camera pose estimation in a short time by using fewer virtual control points, and to realize a detailed adjustment by using the famous orthogonal iterative algorithm, so that the accuracy and the stability of the whole algorithm can be improved. Experimental results show that the performance of the proposed algorithm is better than most popular iterative algorithms for camera pose estimation, and it has a strong ability of resisting both noise disturbing and error registration of control points. Furthermore, it can be applied in real measurement environment. Therefore, the proposed algorithm is an effective algorithm for camera pose estimation.