偏航角對(duì)P3P位姿測(cè)量魯棒性的影響分析

本文從工程應(yīng)用的角度出發(fā)，在三個(gè)控制點(diǎn)構(gòu)成等腰三角形且僅考慮圖像坐標(biāo)檢測(cè)誤
差的條件下，研究偏航角對(duì)P3P 位姿測(cè)量方法魯棒性的影響。首先在理論上推導(dǎo)出位姿參數(shù)誤差與圖像坐標(biāo)檢測(cè)誤差間的關(guān)系，在此基礎(chǔ)上通過(guò)簡(jiǎn)化條件下的理論推導(dǎo)結(jié)合一般條件下的統(tǒng)計(jì)分析得到當(dāng)偏航角為0°時(shí)，測(cè)量位姿的魯棒性較好。這一結(jié)論對(duì)位姿測(cè)量系統(tǒng)的設(shè)計(jì)具有一定的指導(dǎo)意義。
關(guān)鍵詞：位姿測(cè)量 偏航角 魯棒性 P3P
Influence Analysis of Yaw Angle to the Robustness of P3P ZHU Feng1,2), OU Jinjun1), HAO Yingming1), WU Qingxiao1), ZHOU Jing1), FU Shuangfei1) 1)(Shenyang Institute of Automation, Chinese Academy of Sciences，Shenyang，110016) 2)(Graduate School of Chinese Academy of Sciences, Beijing, 100039) Abstract: In this paper, from the view of engineering application, under the condition that three control points formed an isosceles triangle and only the error of image coordinates was considered, the influence of yaw angle to the robustness of P3P pose estimation method was developed. Firstly the relationship between the error of pose parameters and the error of image coordinates can be
obtained by theoretical deduction. Upon above analysis, based on the theoretical deduction under simplified condition and general statistical analysis, the following conclusion could be drawn. When the yaw angle was 0°, the robustness of pose estimation was relatively better. This conclusion is significant for the design and realization of pose estimation system.
Key words: pose estimation yaw angle robustness P3P