一种基于旋转矩阵单位四元数分解的运动估计算法
AN ALGORITHM OF MOTION ESTIMATION BASED ON UNIT QUATERNION DECOMPOSITION OF THE ROTATION MATRIX
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摘要: 本文基于旋转矩阵单位四元数分解定理,提出一种由3D特征点空间位置估计运动参数的算法。单位四元数表示旋转矩阵时不存在奇异点,故基于单位四元数的运动估计方法具有更大的实用价值,而本文算法无需Horn(1987)和Su等人(1989)提出的单位四元数方法的迭代运算。本文给出了解的唯一性分析和模拟实验结果,可见其性能是令人满意的。Abstract: Based on the unit quaternion decomposition of rotation matrix, this paper puts forward an algorithm to estimate motion parameters from the space position vectors of 3D feature points. Rotation matrix s representation with the unit quaternion has no singular points, so the unit quaternion-based estimation method is of more practical importance, and the algorithm in this paper does not need iteration computation compared to those unit quaternion-based method proposed by Horn(1987) and Su, et al.(1989). Solutions uniqueness analysis of the algorithm and simulation experiment results are also presented, it can be seen that performance of the proposed method is satisfactory.
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Sabata B, Aggarwal J K, CVGIP: Image Understanding, 1991, 54(3): 309-324.[2]Arun K, et al. IEEE Trans. on PAMI,1987, PAMI-9(5): 698-700.[3]Horn B, et al. J. Opt[J].Soc. Am. (A.1988, 5(7):1127-1135[4]Su R J, et al. Matrix decomposition and optimal estimation of rigid -body displacement,Proc. of the Int. Symp. MTNS-89, Netherlands: 1989, 513-520.[5]Horn B, J. Opt[J].Soc. Am. (A.1987, 4(4):629-642[6]Faugeras O D, et al. Motion and structure from motion from point and line matches, Proc. of IEEE lnt. Conf. un Computer Vision, England: 1987, 25-34.[7]范洪.3-D计算机视觉系统的高精度定标和3-D运动信息的准确获取:[博士论文].北方交通大学,北京: 1992, 9.[8]徐文立,刘文煌.自动化学报,1992,18( 4 ): 491-447. -
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