基于自适应滤波的头部姿态跟踪方法研究

A Head Attitude Tracking Method Based on Adaptive Filtering

针对视觉式头部定位系统存在着噪声统计特性掌握不充分的问题,设计了一种新的基于自适应滤波的头部姿态跟踪方法,其综合了视觉测量算法和自适应滤波算法。在获取n对2D/3D(图像点/空间点)匹配对的基础上,先利用正交迭代算法(OI)解算头部姿态,然后应用自适应滤波器估计精度更高的头部姿态,最后针对带有时变噪声且噪声统计特性掌握不充分的测量值,应用头部姿态跟踪方法进行了仿真测试,结果显示该方法的测量精度有很大提高,并且验证了所设计的头部姿态跟踪方法是合理且有效的。

Aiming at the problem that the noise statistical properties of the visual head positioning system have not been fully mastered,a new method of head attitude tracking based on adaptive filtering is designed,which combines the vision measurement algorithm with adaptive filtering algorithm. On the basis of the n pairs in 2D /3D（ image point / space point） matching,the head attitude is calculated out at first by using the Orthogonal Iteration（ OI） algorithm,and the head attitude with higher accuracy is then obtained by using adaptive filter. Finally,to the measurement values with time varying noise and the statistics characteristic of the noise is unknown,we made some simulation tests with the head attitude tracking method. The results show that the measurement accuracy of the method is greatly improved,and it is demonstrated that the head attitude tracking method is reasonable and effective.