目的针对对应点个数大于等于6的摄像机位姿估计问题,提出一种既适用于已标定也适用于未标定摄像机的时间复杂度为O(n)的高精度快速算法。方法首先选取4个非共面虚拟控制点,并根据空间点和虚拟控制点的空间关系以及空间点的图像建立线性...目的针对对应点个数大于等于6的摄像机位姿估计问题,提出一种既适用于已标定也适用于未标定摄像机的时间复杂度为O(n)的高精度快速算法。方法首先选取4个非共面虚拟控制点,并根据空间点和虚拟控制点的空间关系以及空间点的图像建立线性方程组,以此求解虚拟控制点的图像坐标及摄像机内参,再由POSIT(pose from orthography and scaling with iterations)算法根据虚拟控制点及其图像坐标求解旋转矩阵和平移向量。结果模拟数据实验和真实图像实验表明该算法时间复杂度和计算精度均优于现有的已标定摄像机位姿的高精度快速求解算法EPnP(efficient perspective-n-point)。结论该算法能够同时估计摄像机内外参数,而且比现有算法具有更好的速度和精度。展开更多
Stable switch control between multiple cameras for uncalibrated visual servoing was studied. Switch images based on fusion were presented to get the continuous dynamic image Jacobian matrix among robots and distribute...Stable switch control between multiple cameras for uncalibrated visual servoing was studied. Switch images based on fusion were presented to get the continuous dynamic image Jacobian matrix among robots and distributed visual sensors. The designed fusion algorithm is suitable to have dynamically adjustable fusion weights, and the fusion structure was analyzed. Simulations and experiments without any knowledge of mobile robots and uncalibrated visual sensors show that the method has higher adaptability than the traditional instant switch control method. The method can enhance the system stability at the switching process.展开更多
文摘目的针对对应点个数大于等于6的摄像机位姿估计问题,提出一种既适用于已标定也适用于未标定摄像机的时间复杂度为O(n)的高精度快速算法。方法首先选取4个非共面虚拟控制点,并根据空间点和虚拟控制点的空间关系以及空间点的图像建立线性方程组,以此求解虚拟控制点的图像坐标及摄像机内参,再由POSIT(pose from orthography and scaling with iterations)算法根据虚拟控制点及其图像坐标求解旋转矩阵和平移向量。结果模拟数据实验和真实图像实验表明该算法时间复杂度和计算精度均优于现有的已标定摄像机位姿的高精度快速求解算法EPnP(efficient perspective-n-point)。结论该算法能够同时估计摄像机内外参数,而且比现有算法具有更好的速度和精度。
基金Supported by National Natural Science Foundation of China（60873032, 61105095, 61203361） Doctoral Program Foundation of Ministry of Education of China （20100142110020）+3 种基金 the Specialized Research Fund for the Doctoral Program of Higher Education of China （20100073120020） Postdoctoral Science Foundation of China （2012M511095） Shanghai Municipal Natural Science Foundation （11ZR1418400） Shanghai Postdoctoral Science Foundation（12R21414200）
基金The National Natural Science Foundation of China (No 60428303)
文摘Stable switch control between multiple cameras for uncalibrated visual servoing was studied. Switch images based on fusion were presented to get the continuous dynamic image Jacobian matrix among robots and distributed visual sensors. The designed fusion algorithm is suitable to have dynamically adjustable fusion weights, and the fusion structure was analyzed. Simulations and experiments without any knowledge of mobile robots and uncalibrated visual sensors show that the method has higher adaptability than the traditional instant switch control method. The method can enhance the system stability at the switching process.
