P3P位姿测量方法的误差分析

Error analysis of P3P pose estimation

从工程应用的角度出发,在三个控制点构成等腰三角形的条件下,研究P3P位姿测量方法的误差与输入参数误差的关系。首先在理论上推导出测量位姿误差与输入参数误差间的关系,在此基础上通过误差统计分析和直接仿真验证的方式得到在输入误差中,图像坐标的检测误差和像机内参数标定误差对测量位姿误差的影响较大,而目标模型的测量误差对测量位姿误差的影响可以忽略不计的结论。这对位姿测量系统的设计与实现具有一定的指导意义。

In this paper,from the view of engineering application,under the condition that three control points formed an isosceles triangle,the relationship is studied between the error of P3P pose estimation methods and the input parameters.Firstly the relationship can be obtained by theoretical deduction.After that,through error statistical analysis and direct simulation validation,the following conclusion can be gotten.In the input parameter errors,the error of image coordinates and the calibration error of camera intrinsic parameters have more influence on the error of final pose estimation than the metrical error of objective model,which can be negligible.This conclusion is significant for the design and realization of pose estimation system.