| 基于2D-3D双目运动估计的立体视觉定位算法 |
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| 引用本文： | 许允喜,蒋云良,陈方.基于2D-3D双目运动估计的立体视觉定位算法[J].光电工程,2011(9):104-110. |
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| 作者姓名： | 许允喜 蒋云良 陈方 |
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| 作者单位： | 湖州师范学院信息与工程学院;浙江大学信息与电子工程系; |
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| 基金项目： | 国家自然科学基金项目(60872057); 浙江省自然科学基金项目(Y1101237,R1090244,Y1080212) |
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| 摘 要： | 运动估计算法是影响立体视觉定位精度的重要因素,传统的3D-3D运动估计算法受噪声影响很大,计算精度不高.本文提出了一种基于2D-3D双目运动估计的立体视觉定位算法.算法不使用运动后的特征点3D坐标,而直接利用其2D图像投影坐标.首先,利用EPnP运动估计算法确定匹配内点和初始运动参数.接着,利用双目相机之间的2D投影几...
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| 关 键 词： | 运动估计 立体视觉 视觉定位 EPnP算法 |
Stereo Visual Localization Algorithm Based on 2D-3D Binocular Motion Estimation |
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| XU Yun-xi,JIANG Yun-liang,CHEN Fang.Stereo Visual Localization Algorithm Based on 2D-3D Binocular Motion Estimation[J].Opto-Electronic Engineering,2011(9):104-110. |
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| Authors: | XU Yun-xi JIANG Yun-liang CHEN Fang |
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| Affiliation: | XU Yun-xi~1,2,JIANG Yun-liang~1,CHEN Fang~1(1.Institute of Information &Engineering,Huzhou Teachers College,Huzhou 313000,Zhejiang Province,China,2.Department of Information Science & Electronic Engineering,Zhejiang University,Hangzhou 310027,China) |
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| Abstract: | Motion estimation algorithm of stereo vision is one of the important factors which affect the accuracy of stereo visual localization.The traditional 3D-3D motion estimation is greatly affected by noise,so the accuracy of algorithm is not high.We propose a new stereo visual localization algorithm based on 2D-3D binocular motion estimation.In our method,2D image projection coordinates is directly used instead of 3D coordinates of feature after motion.Firstly,EPnP motion estimation is applied to determine matc... |
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| Keywords: | motion estimation stereo visual visual localization EPnP algorithm |
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