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A high accuracy method for pose estimation based on rotation parameters
Yan, Kun1,2; Zhao, Rujin1; Tian, Hong1; Liu, Enhai1; Zhang, Zhuang1,2
Source PublicationMEASUREMENT
Volume122Pages:392-401
2018-07-01
Language英语
ISSN0263-2241
DOI10.1016/j.measurement.2018.02.013
Indexed BySCI ; Ei
WOS IDWOS:000429508900046
EI Accession Number20180804811371
SubtypeJ
AbstractIn this paper, A high-precision pose estimation method based on rotation parameters is proposed. By introducing the parameterization of rotation matrix, we first formulate a nonlinear least-squares cost function whose optimality conditions constitute a system of three third-order polynomials. Then, based on Grobner basis method, we solve the solution of polynomial equation directly, and then the attitude is calculated by back-substitution method. More importantly, one of the main advantages of our method is scalability, because the order of the polynomial equations we solve is independent of the number of points involved in the estimation. Finally, we compare the performance of our algorithm with the leading PnP method, both in simulations and experiments, and show that the proposed method achieves the accuracy of approaching the OPnP (optimal solution to the PnP problem).
KeywordMachine vision Algorithms Three-dimensional sensing PnP
EI KeywordsAlgorithms ; Computer vision ; Cost functions ; Polynomials
EI Classification Number723.5 Computer Applications ; 921.1 Algebra ; 921.5 Optimization Techniques
Citation statistics
Document Type期刊论文
Identifierhttp://ir.ioe.ac.cn/handle/181551/9310
Collection空天光电技术事业部
Affiliation1.Institute of Optics and Electronics of Chinese Academy of Sciences, Chengdu; 610209, China;
2.University of Chinese Academy of Sciences, Beijing; 100149, China
Recommended Citation
GB/T 7714
Yan, Kun,Zhao, Rujin,Tian, Hong,et al. A high accuracy method for pose estimation based on rotation parameters[J]. MEASUREMENT,2018,122:392-401.
APA Yan, Kun,Zhao, Rujin,Tian, Hong,Liu, Enhai,&Zhang, Zhuang.(2018).A high accuracy method for pose estimation based on rotation parameters.MEASUREMENT,122,392-401.
MLA Yan, Kun,et al."A high accuracy method for pose estimation based on rotation parameters".MEASUREMENT 122(2018):392-401.
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