“单二”组合检测技术的唯一性研究

RESEARCH ON THE UNIQUENESS OF THE COMBINATORIAL DETECTION TECHNIQUE OF TWO FRAMES OF AN IMAGE SEQUENCE TAKEN WITH SINGLE SENSOR

本文针对曲面构形刚体,利用动态景物图象序列的“单二”组合技术,建立了运动方程。但是,同时产生了增根。为了从瞬间三维运动参数的多组解中确定唯一的真解,在考虑到噪声的影响后,导出了判决函数d(f,R)及其判决规则。仿真实验结果表明,利用d(t,R)0,可以有效地确定唯一的瞬间旋转矩阵R_。和三维平移矢量t(与真解t_。同向),从而证实了理论分析的工确性,解决了“单二”组合检测技术的多解问题。

In this paper a new set of motion equations of rigid object with curved surface is deduced by applying the combinatorial detection technique of two frames of an image sequence taken with single sensor. However, the false roots are produced at the same time. In order to determine the unique instant 3D motion parameters, the determinative function d(t,R) is also deduced after considering the influence of noise. The results of simulating experiments show that the correct rotation matrix R0 and 3D translation vector t which is in the same direction with the correct solution t0 can be uniquely determined by minimizing d (t, R) 0. Therefore, the truth of theory analysis is proven and the problem of many solutions has been solved.