基于单应矩阵的相对位姿改进算法-计算机工程与应用.PDF

Computer Engineering and Applications 计算机工程与应用 2017 ，53（15） 25 基于单应矩阵的相对位姿改进算法 用 1，2 2 1，2 张培科 ，武元新 ，蔡 奇 应 1，2 2 1，2 ZHANG Peike , WU Yuanxin , CAI Qi 与 1. 中南大学 航空航天学院，长沙 410083 程 2. 上海交通大学 电子信息与电气工程学院，上海 200240 g r 1. School of Aeronautics and Astronautics, Central South University, Changsha 410083, China 工 o 2. School of Electronic Information and Electrical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China . 机 j a ZHANG Peike, WU Yuanxin, CAI Qi. Improved solution for relative pose based on homography matrix. Computer 算 e Engineering and Applications, 2017, 53 （15）：25-30. c 计 w. Abstract: The relative pose solution from homography matrix is vital for the visual navigation and visual servo applications. This paper proves new properties of the homography matrix and utilizes them to improve relative pose solution by w the decomposition of homography matrix. Compared with previous methods, it only has a half of candidate solutions and w enlarges the applicability range. Theory analysis, synthetic and real data tests show that the improved method saves 50% time in choosing the right relative pose from the candidate solutions and improves the total computational efficiency. Key words: homography matrix; scale ambiguity ; relative pose; singular value decomposition 摘 要：从单应矩阵恢复相对位姿在视觉导航、视觉伺服应用中具有重要价值，证明了单应矩阵的新性质，并利用该 性质改进了基于单应矩阵分解的相对位姿估计算法。与已有算法相比，该算法的候选解个数减半，并扩大了适用范 围。理论分析、合成数据和真实数据测试均表明，改进方法使从候选解中筛选出唯一解的运