A Fast Weighted Iterative Pose Estimation Method

Table 1. Camera parameter calibration results
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Table 1. Camera parameter calibration results
Parameter Calibration value
Focal length $f_{x} = \begin{matrix} 2911.932205 \end{matrix}$ $f_{y} = \begin{matrix} 2980.020889 \end{matrix}$
Distortion parameter $k_{1} = \begin{matrix} - 0.01902226 \end{matrix}$ 0 $k_{2} = \begin{matrix} 0.045321399 \end{matrix}$
Principal point $u_{0} = 1807.8293$ $v_{0} = 1552.9241$

Table 2. Errors between measurement points and reference points

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Table 2. Errors between measurement points and reference points

	1	2	3	4	5	6	7	8	9	10
WSPnP	11.82	14.45	12.38	9.52	7.84	7.12	7.43	6.98	5.49	7.33
EPnP	27.28	25.70	20.31	18.27	18.38	16.56	11.61	13.24	14.41	13.49
EPnP+GN	19.90	17.19	22.12	13.21	13.60	10.47	13.65	12.79	14.63	12.26
LHM	30.49	25.27	26.68	22.93	18.47	20.18	14.96	18.88	18.35	16.27

Table 3. Experimental results comparison
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Table 3. Experimental results comparison
Algorithm Point Computing time /s
WSPnP 10 0.05952
EPnP 10 0.04376
EPnP+GN 10 0.06576
LHM 10 0.07948

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Chenyang Liu, Longjiang Zheng, Peiguo Hou. A Fast Weighted Iterative Pose Estimation Method[J]. Laser & Optoelectronics Progress, 2022, 59(18): 1815019

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