A Fast Convergent Pose Estimation Algorithm and Experiments Based on Vision Images
Dayong Zhu · Acta Aeronautica Et Astronautica Sinica · 2007
Camera location and pose estimation from the 3D object and its 2D image are important problems in computer vision.The orthogonal iteration(OI)algorithm is analyzed,the rotational matrix solution is refined.Experiment results show that,using the improved algorithm,the relative errors of distance from camera to object are less than ±0.41%,in the range of 0.45～5.20 m,and the rotation angle errors are less than ±1.8° in a distance of 3 m.Simulation results show that the improved method can fast converge,rapidly,increase the noise resistance performance,and give more accurate rotation and translation parameters as compared with the OI algorithm when the data corrupted.