UNBIASED ESTIMATION AND STATISTICAL-ANALYSIS OF 3-D RIGID MOTION FROM 2 VIEWS

被引：36
|
作者：
KANATANI, K
机构：
[1] Department of Computer Science, Gunma University, Gunma
来源：
IEEE TRANSACTIONS ON PATTERN ANALYSIS AND MACHINE INTELLIGENCE | 1993年 / 15卷 / 01期
关键词：
ERROR ANALYSIS; ESTIMATION; MODEL OF NOISE; STATISTICAL BIAS; 3-D MOTION; UNBIASED ESTIMATION;
D O I：
10.1109/34.184773
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
The problem of estimating 3-D rigid motion from point correspondences over two views is formulated as nonlinear least-squares optimization, and the statistical behaviors of the errors in the solution are analyzed by introducing a realistic model of noise described in terms of the covariance matrices of ''N-vectors.'' It is shown that the least-squares solution based on the epipolar constraint is statistically biased. The geometry of this bias is described in both quantitative and qualitative terms. Finally, an unbiased estimation scheme is presented, and random number simulations are conducted to observe its effectiveness.
引用
收藏
页码：37 / 50
页数：14
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