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ACTA AERONAUTICAET ASTRONAUTICA SINICA ›› 2023, Vol. 44 ›› Issue (2): 326695-326695.doi: 10.7527/S1000-6893.2022.26695

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Camera pose estimation and corresponding points matching based on rotation search

Ping WANG1,2(), Hui FU1, Guili XU3   

  1. 1.College of Electrical and Information Engineering,Lanzhou University of Technology,Lanzhou  730050,China
    2.Key Laboratory of Gansu Advanced Control for Industrial Processes,Lanzhou  730050,China
    3.College of Automation Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing  211106,China
  • Received:2021-11-24 Revised:2021-12-27 Accepted:2022-05-18 Online:2023-01-25 Published:2022-06-08
  • Contact: Ping WANG E-mail:pingwangsky@163.com
  • Supported by:
    National Natural Science Foundation of China(62173170);Gansu Province Science Foundation for Youths(20JR10RA186);State Key Laboratory of Synthetical Automation for Process Industries(2021-KF-21-04);Key Laboratory of Gansu Advanced Control for Industrial Processes(2022KX02)

Abstract:

The traditional Simultaneous Pose and Correspondence Determination (SPCD) algorithm uses a two-stage alternate iteration strategy to calculate the camera pose, which leads to poor accuracy. Besides, the traditional SPCD algorithm relies on local search strategies, and have no guarantee of finding the globally optimal solution. To improve the accuracy and the ability of global convergence of solving the SPCD problem, a new solving model based on point-to-point constraints is derived for the SPCD problem in this paper. Based on this new model, an optimal objective function is constructed by using the angle distance, and the branch-and-bound method is used to search the optimal camera pose and the 3D/2D correspondences. Experiments show that the proposed method has higher accuracy and convergence rate compared to the traditional SoftPOSIT algorithm, and would have wide applications.

Key words: computer vision, vision-based navigation, vision measurement, pose estimation, PnP problem, Simultaneous Pose and Correspondence Determination (SPCD) problem

CLC Number: