Camera pose estimation and corresponding points matching based on rotation search

被引：0
|
作者：
Wang P. [1 ,2 ]
Fu H. [1 ]
Xu G. [3 ]
机构：
[1] College of Electrical and Information Engineering, Lanzhou University of Technology, Lanzhou
[2] Key Laboratory of Gansu Advanced Control for Industrial Processes, Lanzhou
[3] College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing
来源：
Hangkong Xuebao/Acta Aeronautica et Astronautica Sinica | 2023年 / 44卷 / 02期
基金：
中国国家自然科学基金;
关键词：
computer vision; PnP problem; pose estimation; Simultaneous Pose and Correspondence Determination (SPCD) problem; vision measurement; vision-based navigation;
D O I：
10.7527/S1000-6893.2022.26695
中图分类号：
学科分类号：
摘要：
The traditional Simultaneous Pose and Correspondence Determination (SPCD) algorithm uses a two-stage alternate iteration strategy to calculate the camera pose, which leads to poor accuracy. Besides, the traditional SPCD algorithm relies on local search strategies, and have no guarantee of finding the globally optimal solution. To improve the accuracy and the ability of global convergence of solving the SPCD problem, a new solving model based on point-to-point constraints is derived for the SPCD problem in this paper. Based on this new model, an optimal objective function is constructed by using the angle distance, and the branch-and-bound method is used to search the optimal camera pose and the 3D/2D correspondences. Experiments show that the proposed method has higher accuracy and convergence rate compared to the traditional SoftPOSIT algorithm, and would have wide applications. © 2023 AAAS Press of Chinese Society of Aeronautics and Astronautics. All rights reserved.
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