Laser & Optoelectronics Progress, Volume. 56, Issue 2, 021204(2019)
Monocular Pose Optimization Algorithm Based on Adaptive Reprojection Error
Figures & Tables(7)
Fig. 1. Constraint radius and reprojection error model. (a) Maximum reprojection error; (b) mean reprojection error
Fig. 2. Estimation error. (a) Attitude estimation error; (b) translation estimation error
Fig. 3. Estimation errors of different reprojection errors. (a) Attitude estimation error; (b) translation estimation error
Fig. 4. Influence of the number of reference points on the algorithm. (a) Attitude estimation error; (b) translation estimation error
Fig. 5. Influence of different noises on the algorithm. (a) Pose estimation error; (b) translation estimation error
Table 1. Reprojection error and constraint interval polynomial coefficient
View tableTable 1. Reprojection error and constraint interval polynomial coefficient
Independent u 1u 2u 3u 4u 5Max 3.5738×103 -3.4877×103 1.0564×103 -0.0875×103 0.0089×103 Mean 1.0178×107 -0.4066×107 0.0553×107 -0.0031×107 0.0001×107
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Dan Zhou, Xiucheng Dong, Fan Zhang, Wei Chen. Monocular Pose Optimization Algorithm Based on Adaptive Reprojection Error[J]. Laser & Optoelectronics Progress, 2019, 56(2): 021204
Paper Information
Category: Instrumentation, Measurement and Metrology
Received: Jul. 4, 2018
Accepted: Aug. 2, 2018
Published Online: Aug. 1, 2019
The Author Email: Zhou Dan (1076794241@qq.com)
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