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EPnL:一种高效且精确的PnL问题求解算法
王平; 何卫隆; 张爱华; 姚鹏鹏; 徐贵力
Source Publication自动化学报
ISSN0254-4156
2022
Volume48Issue:10Pages:2600-2610
Abstract现有Perspective-n-line (PnL)问题求解算法无法在获得高求解精度的同时保证高求解效率.为解决这个缺点,提出了同时兼具求解效率和求解精度算法EPnL.该方法首先将PnL问题转换为求二次曲面方程组交点的问题,然后利用单位四元数中变量不同时为零的特性,分类参数化PnL问题中的旋转矩阵.最后,为克服常规优化方法可靠性和效率较低的问题,同时兼具求解效率和求解精度算法利用二次曲面方程组自身的结构信息,采用低次项参数化高次项的方式将二次曲面方程组的求解问题转换为单变量多项式的求解问题.实验表明,相比于现有算法,该算法在具有高求解精度的同时也兼具有高求解效率.
Keyword计算机视觉 PnL问题 位姿估计 视觉导航
DOI10.16383/j.aas.c200927
Citation statistics
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/56274
Collection学术期刊_自动化学报
Recommended Citation
GB/T 7714
王平,何卫隆,张爱华,等. EPnL:一种高效且精确的PnL问题求解算法[J]. 自动化学报,2022,48(10):2600-2610.
APA 王平,何卫隆,张爱华,姚鹏鹏,&徐贵力.(2022).EPnL:一种高效且精确的PnL问题求解算法.自动化学报,48(10),2600-2610.
MLA 王平,et al."EPnL:一种高效且精确的PnL问题求解算法".自动化学报 48.10(2022):2600-2610.
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