Improved solution for relative pose based on homography matrix

doi:10.3778/j.issn.1002-8331.1704-0406

Computer Engineering and Applications ›› 2017, Vol. 53 ›› Issue (15): 25-30.DOI: 10.3778/j.issn.1002-8331.1704-0406

Previous Articles Next Articles

Improved solution for relative pose based on homography matrix

ZHANG Peike1，2, WU Yuanxin2, CAI Qi1，2

1. School of Aeronautics and Astronautics, Central South University, Changsha 410083, China
2. School of Electronic Information and Electrical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China

Online:2017-08-01 Published:2017-08-14

基于单应矩阵的相对位姿改进算法

张培科1，2，武元新2，蔡奇1，2

1.中南大学航空航天学院，长沙 410083
2.上海交通大学电子信息与电气工程学院，上海 200240

Abstract

Abstract: The relative pose solution from homography matrix is vital for the visual navigation and visual servo applications. This paper proves new properties of the homography matrix and utilizes them to improve relative pose solution by the decomposition of homography matrix. Compared with previous methods, it only has a half of candidate solutions and enlarges the applicability range. Theory analysis, synthetic and real data tests show that the improved method saves 50% time in choosing the right relative pose from the candidate solutions and improves the total computational efficiency.

Key words: homography matrix, scale ambiguity , relative pose, singular value decomposition

摘要： 从单应矩阵恢复相对位姿在视觉导航、视觉伺服应用中具有重要价值，证明了单应矩阵的新性质，并利用该性质改进了基于单应矩阵分解的相对位姿估计算法。与已有算法相比，该算法的候选解个数减半，并扩大了适用范围。理论分析、合成数据和真实数据测试均表明，改进方法使从候选解中筛选出唯一解的运算时间减少了50%，提高了位姿估计的总体运算效率。

关键词: 单应矩阵, 比例模糊性, 相对位姿, 奇异值分解

ZHANG Peike1，2, WU Yuanxin2, CAI Qi1，2. Improved solution for relative pose based on homography matrix[J]. Computer Engineering and Applications, 2017, 53(15): 25-30.

张培科1，2，武元新2，蔡奇1，2. 基于单应矩阵的相对位姿改进算法[J]. 计算机工程与应用, 2017, 53(15): 25-30.

[1]	CAI Dongli, ZHONG Qinghua, ZHU Yongsheng, LIAO Jinxiang, HAN Maizhi. EEG Emotion Recognition Using Convolutional Neural Network with 3D Input [J]. Computer Engineering and Applications, 2021, 57(5): 161-167.
[2]	YANG Xinmin, DONG Hongbin, TAN Chengyu, ZHOU Wen. Dendritic Cell Model Using Singular Value Decomposition and Information Gain [J]. Computer Engineering and Applications, 2021, 57(15): 156-162.
[3]	ZHAO Qing, YE Jimin, CHANG Fangli. Two Positive Definitive Matrices Based Joint Diagonalization Algorithm for Blind Source Separation [J]. Computer Engineering and Applications, 2019, 55(7): 214-219.
[4]	CAO Hao, CHEN Lili, SI Jibing, REN Junlan. Singular Value Decomposition and Sparse Automatic Encoder for Bearing Fault Diagnosis [J]. Computer Engineering and Applications, 2019, 55(20): 257-262.
[5]	GU Tingting, LIU Xinhui, SANG Qingbing, LI Chaofeng. No-Reference Image Quality Assessment Algorithm for Stereoscopic Images via Dual-Tree Complex Wavelet Transform [J]. Computer Engineering and Applications, 2019, 55(2): 154-161.
[6]	ZHAO Jian, ZHANG Youpeng, ZHAO Bin. Detection method for fracture railway based on singular value decomposition [J]. Computer Engineering and Applications, 2018, 54(9): 243-250.
[7]	LIANG Xinyu1，2, WU Jiande1，2, HUANG Guoyong1，2, SUN Lei1，2. H∞ robust adaptive CKF algorithm used in GNSS/INS integrated navigation [J]. Computer Engineering and Applications, 2018, 54(9): 251-256.
[8]	HUANG Gangjing1，2, FAN Yugang1，2, FENG Zao1，2, LIU Yingjie1，2. Research on fault diagnosis method based on generalized morphological filter and MRSVD [J]. Computer Engineering and Applications, 2018, 54(3): 217-221.
[9]	WEN Peizhi1, ZHOU Ying1, MIAO Yuanyuan1, FENG Liyuan2. High light removing method based on multi view feature matching [J]. Computer Engineering and Applications, 2018, 54(23): 156-161.
[10]	LI Tianxue, WANG Jianping, ZHANG Minqing, KONG Yongjun. High fidelity reversible data hiding algorithm based on SVD compression [J]. Computer Engineering and Applications, 2018, 54(14): 115-119.
[11]	LIU Cuixiang, MA Yushuang, WANG Baozhu, GUO Zhitao. RAMP reconstruction algorithm based on overcomplete dictionary sparse representation [J]. Computer Engineering and Applications, 2018, 54(14): 199-202.
[12]	ZHENG Xiongfeng, DING Lixin, WAN Runze. User and product Attention mechanism based hierarchical BGRU model [J]. Computer Engineering and Applications, 2018, 54(11): 145-152.
[13]	LI Yue1, 2, FAN Yugang1, 2, HUANG Guoyong1, 2. Study on cycle-slip detection and repair algorithm in MRSVD method [J]. Computer Engineering and Applications, 2017, 53(7): 220-224.
[14]	FU Ying, WANG Xing, ZHOU Dongqing, FAN Xiangyu, ZHOU Yipeng. Recognition method of radar signal based on SVD of ambiguity function and improved S3VM algorithm [J]. Computer Engineering and Applications, 2017, 53(6): 264-270.
[15]	XIA Kefu1，2, LI Pengfei2, CHEN Xiaoping2. Robust method for homography matrix estimation based on improved RANSAC algorithm [J]. Computer Engineering and Applications, 2017, 53(23): 147-152.

Improved solution for relative pose based on homography matrix

基于单应矩阵的相对位姿改进算法

PDF

Knowledge

Abstract

Cite this article

share this article

References

Related Articles 15

Recommended Articles

Metrics