基于p-h算法的可变焦距相对定向标定算法研究

A Variable Focal Length Relative Orientation Calibration Method Research Based on p-h Algorithm

针对传统可变焦距相对定向标定算法存在对初始值依赖性大、收敛性差等问题,提出一种基于p-h算法的可变焦距相对定向方法。此方法采用单位四元数代替三角函数来描述旋转矩阵,根据最小二乘法原理进行迭代求解,引入p-h算法进行优化,建立了相应的解算模型,解决三角函数描述旋转矩阵所造成算法缺陷。实验结果显示,改进后的算法具有对初始值依赖性小、收敛速度快、迭代次数少、对大角有很强的适应性等特点,解决了三角函数描述旋转矩阵带来的多值性、奇异性问题。

Aiming at the defects of traditional variable focal length relative orientation algorithm,such as strong dependence on initial value and poor convergence,a variable focal length relative orientation method based on p-h algorithm was proposed.In order to solve the defects caused by rotation matrix formed by trigonometric function,this method uses unit quaterion instead of trigonometric function to describe rotation matrix,solving algorithm parameters iteratively according to the least square principle.New method is optimized by p-h algorithm,and it established the CorTesponding solution model.The experimental results showed that the improved algorithm has the following characteristics：initial value weak dependence,fast convergence,adaptability for large angle,which solved multiple values,singularity problems.