车载全景序列影像的位姿估计优化方法
发布时间：2018-12-13 06:30
【摘要】：针对车载全景序列影像的位姿估计问题,该文提出了一种基于角元素和线元素的位姿估计优化方法。根据全景多视几何关系,建立了角元素和线元素多视约束的优化模型,并推导完成模型的位姿求解方法。然后作为初始外方位元素,加入稀疏GPS/INS的相机控制数据约束,采用全景球模型的稀疏光束法平差对位姿估计结果进一步优化。实验选择IP-S2车载移动测量系统获取的全景序列影像,对比分析单视图、全景视图的连续位姿估计、本文方法和GPS/INS控制数据。实验结果表明,该文方法可提高位姿估计的精度,并减少连续位姿估计产生的累计误差。
[Abstract]:Aiming at the problem of pose estimation of vehicle panoramic sequence images, this paper proposes an optimal method for position and pose estimation based on angle element and line element. According to the panoramic multi-view geometry, the optimization model of angle element and line element multi-view constraint is established, and the method to solve the position and pose of the model is deduced. Then as the initial external azimuth element, the camera control data constraints of sparse GPS/INS are added to optimize the alignment estimation results using the sparse beam adjustment of the panoramic sphere model. The panoramic sequence images obtained by IP-S2 vehicle mobile measurement system are selected in the experiment, and the continuous pose estimation of single view and panoramic view is compared and analyzed. The method of this paper and the control data of GPS/INS are compared and analyzed. The experimental results show that the proposed method can improve the accuracy of pose estimation and reduce the cumulative error caused by continuous pose estimation.
【作者单位】： 辽宁工程技术大学;
【基金】：国家自然科学基金项目(41501504)
【分类号】：TP391.41;U463.6
本文编号：2376074
[Abstract]:Aiming at the problem of pose estimation of vehicle panoramic sequence images, this paper proposes an optimal method for position and pose estimation based on angle element and line element. According to the panoramic multi-view geometry, the optimization model of angle element and line element multi-view constraint is established, and the method to solve the position and pose of the model is deduced. Then as the initial external azimuth element, the camera control data constraints of sparse GPS/INS are added to optimize the alignment estimation results using the sparse beam adjustment of the panoramic sphere model. The panoramic sequence images obtained by IP-S2 vehicle mobile measurement system are selected in the experiment, and the continuous pose estimation of single view and panoramic view is compared and analyzed. The method of this paper and the control data of GPS/INS are compared and analyzed. The experimental results show that the proposed method can improve the accuracy of pose estimation and reduce the cumulative error caused by continuous pose estimation.
【作者单位】： 辽宁工程技术大学;
【基金】：国家自然科学基金项目(41501504)
【分类号】：TP391.41;U463.6
【相似文献】
相关期刊论文 前1条
1 罗勇;陈慧;;基于EKF的自动泊车系统位姿估计算法设计[J];山东交通学院学报;2013年04期
，本文编号：2376074
本文链接：https://www.wllwen.com/kejilunwen/ruanjiangongchenglunwen/2376074.html
