摘要
利用将经典遗传算法和最速下降法相结合的混合遗传算法进行相对定向,并用强收敛性的单位四元数表示旋转矩阵,可有效避免经典遗传算法容易早熟的弱点,并在无需初值的情况下经较少的遗传代数快速收敛。
The traditional approach for relative orientation is the least-square solution of coplanar equation with more than five correspondence rays when the approximations acquired by direct methods.We present a hybrid genetic algorithm which utilizes the global convergence of the traditional genetic algorithm and the local convergence of the gradient-based search algorithms.And unit quaternion is used to represent 3D rotation instead of traditional Euler angles to enlarge the convergent region.The algorithm can effectively eliminate the premature of the traditional genetic algorithm and rapidly converge to the optimal solutions without initial values.
出处
《武汉大学学报（信息科学版）》
EI
CSCD
北大核心
2011年第6期670-673,共4页
Geomatics and Information Science of Wuhan University
