Laser & Optoelectronics Progress, Volume. 55, Issue 9, 93601(2018)
Camera Pose Estimation Algorithm Considering Angle and Position Errors
For high-precision situation that the impact of angle error on precision is comparable with the impact of position error, a camera pose estimation algorithm that can fuse the angle and position errors is proposed. The covariance of position error is projected onto a unit sphere and fused with the covariance of angle error in the iterative process of position estimation algorithm of traditional least squares adjustment camera. The problem that the projection progress depends on the parameters to be estimated is solved with block relaxation iteration method. The weighted least squares adjustment equation is constructed using the covariance. From the adjustment equation, the estimated values of camera pose in the current iteration are obtained, which combine the position and angle errors. The proposed algorithm unifies the measurement models of the position error and angle error. Experimental results show the effectiveness of the proposed algorithm applied in orientation system for missile vehicle.
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He Ying, Ma Rong, Li Suilao, Guo Qiang. Camera Pose Estimation Algorithm Considering Angle and Position Errors[J]. Laser & Optoelectronics Progress, 2018, 55(9): 93601
Received: Jul. 31, 2018
Accepted: --
Published Online: Sep. 8, 2018
The Author Email: Ying He (cnheying@qq.com)