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Acta Optica Sinica, Volume. 39, Issue 9, 0915004(2019)

Robust Orthogonal Iteration Algorithm for Single Camera Pose Estimation

Xiongfeng Zhang1、**, Haibo Liu2、*, and Yang Shang2
Author Affiliations
  • 1 Jiuquan Satellite Launch Center, Jiuquan, Gansu 732750, China
  • 2 College of Aerospace Science and Engineering, National University of Defense Technology, Changsha, Hunan 410073, China
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    AbstractGet PDF(in Chinese)
    Figures&Tables (6)
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    References (20)
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    Figures & Tables(6)
    Mean error varies with outlier number. (a) Rotation matrix error; (b) translation vector error

    Fig. 1. Mean error varies with outlier number. (a) Rotation matrix error; (b) translation vector error

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    Mean error varies with noise level. (a) Rotation matrix error; (b) translation vector error

    Fig. 2. Mean error varies with noise level. (a) Rotation matrix error; (b) translation vector error

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    Mean computational time varies with number of reference points

    Fig. 3. Mean computational time varies with number of reference points

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    Re-projection results

    Fig. 4. Re-projection results

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    Variation of weight coefficients with iteration

    Fig. 5. Variation of weight coefficients with iteration

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    • Table 1. Mistaken and measured coordinate of first five pointspixel

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      Table 1. Mistaken and measured coordinate of first five pointspixel

      Data sourcePoint 1Point 2Point 3Point 4Point 5
      Mistaken(232.3, 504.8)(275.5, 336.7)(215.1, 426.4)(377.8, 414.4)(374.5, 479.7)
      Measured(222.3, 504.8)(255.5, 386.7)(232.0, 461.4)(372.8, 480.4)(351.5, 489.7)
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    Xiongfeng Zhang, Haibo Liu, Yang Shang. Robust Orthogonal Iteration Algorithm for Single Camera Pose Estimation[J]. Acta Optica Sinica, 2019, 39(9): 0915004

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    Paper Information

    Category: Machine Vision

    Received: Apr. 15, 2019

    Accepted: May. 23, 2019

    Published Online: Sep. 9, 2019

    The Author Email: Xiongfeng Zhang (zxf_nudt@163.com), Haibo Liu (liuhaibo@nudt.edu.cn)

    DOI:10.3788/AOS201939.0915004

    Topics

    laser devices and laser physics
    Lasers and Laser Optics
    Laser physics
    laser manufacturing
    Instrumentation, Measurement and Metrology