一種基于旋轉(zhuǎn)矩陣單位四元數(shù)分解的運(yùn)動估計算法
AN ALGORITHM OF MOTION ESTIMATION BASED ON UNIT QUATERNION DECOMPOSITION OF THE ROTATION MATRIX
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摘要: 本文基于旋轉(zhuǎn)矩陣單位四元數(shù)分解定理,提出一種由3D特征點(diǎn)空間位置估計運(yùn)動參數(shù)的算法。單位四元數(shù)表示旋轉(zhuǎn)矩陣時不存在奇異點(diǎn),故基于單位四元數(shù)的運(yùn)動估計方法具有更大的實用價值,而本文算法無需Horn(1987)和Su等人(1989)提出的單位四元數(shù)方法的迭代運(yùn)算。本文給出了解的唯一性分析和模擬實驗結(jié)果,可見其性能是令人滿意的。Abstract: Based on the unit quaternion decomposition of rotation matrix, this paper puts forward an algorithm to estimate motion parameters from the space position vectors of 3D feature points. Rotation matrix s representation with the unit quaternion has no singular points, so the unit quaternion-based estimation method is of more practical importance, and the algorithm in this paper does not need iteration computation compared to those unit quaternion-based method proposed by Horn(1987) and Su, et al.(1989). Solutions uniqueness analysis of the algorithm and simulation experiment results are also presented, it can be seen that performance of the proposed method is satisfactory.
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Sabata B, Aggarwal J K, CVGIP: Image Understanding, 1991, 54(3): 309-324.[2]Arun K, et al. IEEE Trans. on PAMI,1987, PAMI-9(5): 698-700.[3]Horn B, et al. J. Opt[J].Soc. Am. (A.1988, 5(7):1127-1135[4]Su R J, et al. Matrix decomposition and optimal estimation of rigid -body displacement,Proc. of the Int. Symp. MTNS-89, Netherlands: 1989, 513-520.[5]Horn B, J. Opt[J].Soc. Am. (A.1987, 4(4):629-642[6]Faugeras O D, et al. Motion and structure from motion from point and line matches, Proc. of IEEE lnt. Conf. un Computer Vision, England: 1987, 25-34.[7]范洪.3-D計算機(jī)視覺系統(tǒng)的高精度定標(biāo)和3-D運(yùn)動信息的準(zhǔn)確獲取:[博士論文].北方交通大學(xué),北京: 1992, 9.[8]徐文立,劉文煌.自動化學(xué)報,1992,18( 4 ): 491-447. -
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