计算机工程与应用Issue(15)：25-30,6.DOI:10.3778/j.issn.1002-8331.1704-0406
基于单应矩阵的相对位姿改进算法
Improved solution for relative pose based on homography matrix
摘要
Abstract
The relative pose solution from homography matrix is vital for the visual navigation and visual servo applications. This paper proves new properties of the homography matrix and utilizes them to improve relative pose solution by the decomposition of homography matrix. Compared with previous methods, it only has a half of candidate solutions and enlarges the applicability range. Theory analysis, synthetic and real data tests show that the improved method saves 50%time in choosing the right relative pose from the candidate solutions and improves the total computational efficiency.关键词
单应矩阵/比例模糊性/相对位姿/奇异值分解Key words
homography matrix/scale ambiguity/relative pose/singular value decomposition分类
信息技术与安全科学引用本文复制引用
张培科,武元新,蔡奇..基于单应矩阵的相对位姿改进算法[J].计算机工程与应用,2017,(15):25-30,6.基金项目
国家自然科学基金(No.61422311) （No.61422311）
湖南省自然科学杰出青年基金(No.2015JJ1021). （No.2015JJ1021）
