未标定摄像机姿态估计的矢量求解算法

Vector method for pose estimation with un-calibrated camera

提出一种基于矢量运算未标定摄像机姿态估计的求解算法。重点研究了P5P问题,将五个控制点组成四个矢量,根据成像过程,由控制点矢量运算逐步构建摄像机姿态和相机矩阵的线性约束方程。依据线性理论及旋转阵R的正交性化简约束方程,通过矢量运算给出未标定P5P问题摄像机姿态和相机矩阵的解析解。给出有足够约束条件的PnP问题的求解过程。模拟和真实实验都验证了该方法的有效性。

This paper proposed an algorithm for pose estimation with an un-calibrated camera based on vector operation.Firstly,it researched the P5P problem,formed five control points into four vectors.According to the process of image formation,the constraint equations in camera pose and intrinsic parameter were set up linearly through vector operation of control points.Then,simplified and determined these equations in terms of linear theory and the orthogonal relation of rotation R.As a result,on the un-calibrated P5P problem,obtained the analytic solutions of camera pose and intrinsic parameter matrix via vector cross or inner product operation.Secondly,studied solution o PnP problem with sufficient constraints.Simulated and real experiments illustrate that the proposed algorithm is effective.