An Improved Pose Estimation Method Based on Projection Vector With Noise Error Uncertainty
Aiming at the problem of anomalous and non-independent distribution of the image errors in the feature-based visual pose estimation, a method of monocular visual pose estimation based on the uncertainty of noise error established by projection vector is proposed. First, by using the covariance matri...
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| Format: | Article |
| Language: | English |
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IEEE
2019-01-01
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| Series: | IEEE Photonics Journal |
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| Online Access: | https://ieeexplore.ieee.org/document/8653304/ |
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| author | Jiashan Cui Changwan Min Xiangyun Bai Jiarui Cui |
| author_facet | Jiashan Cui Changwan Min Xiangyun Bai Jiarui Cui |
| author_sort | Jiashan Cui |
| collection | DOAJ |
| description | Aiming at the problem of anomalous and non-independent distribution of the image errors in the feature-based visual pose estimation, a method of monocular visual pose estimation based on the uncertainty of noise error established by projection vector is proposed. First, by using the covariance matrix to describe the uncertainty of the feature point direction and integrating the uncertainty of the feature point direction into the pose estimation, characteristic point measurement error with different degrees of directional uncertainty can be adapted that can makes the algorithm robust. Then, by introducing the projection vector and combining the depth information of each feature point to represent the collinearity error, the model nonlinear problem caused by the camera perspective projection can be eliminated that can make the algorithm have global convergence. Finally, we use global convergence theorem to prove the global convergence of the proposed algorithm. The results show that the proposed method has good robustness and convergence while adapting to different degrees of error uncertainty, which can meet practical engineering applications. |
| format | Article |
| id | doaj-art-ebd4ec2b954a429cb8cd4b1e478695b1 |
| institution | DOAJ |
| issn | 1943-0655 |
| language | English |
| publishDate | 2019-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Photonics Journal |
| spelling | doaj-art-ebd4ec2b954a429cb8cd4b1e478695b12025-08-20T03:15:48ZengIEEEIEEE Photonics Journal1943-06552019-01-0111211610.1109/JPHOT.2019.29018118653304An Improved Pose Estimation Method Based on Projection Vector With Noise Error UncertaintyJiashan Cui0https://orcid.org/0000-0002-3716-5154Changwan Min1Xiangyun Bai2Jiarui Cui3School of Aerospace Science and Technology, Xidian University, Xi'an, ChinaSchool of Aerospace Science and Technology, Xidian University, Xi'an, ChinaSchool of Computer Science and Technology, Harbin Institute of Technology, Harbin, ChinaSchool of Automation and Electrical Engineering, University of Science and Technology Beijing, Beijing, ChinaAiming at the problem of anomalous and non-independent distribution of the image errors in the feature-based visual pose estimation, a method of monocular visual pose estimation based on the uncertainty of noise error established by projection vector is proposed. First, by using the covariance matrix to describe the uncertainty of the feature point direction and integrating the uncertainty of the feature point direction into the pose estimation, characteristic point measurement error with different degrees of directional uncertainty can be adapted that can makes the algorithm robust. Then, by introducing the projection vector and combining the depth information of each feature point to represent the collinearity error, the model nonlinear problem caused by the camera perspective projection can be eliminated that can make the algorithm have global convergence. Finally, we use global convergence theorem to prove the global convergence of the proposed algorithm. The results show that the proposed method has good robustness and convergence while adapting to different degrees of error uncertainty, which can meet practical engineering applications.https://ieeexplore.ieee.org/document/8653304/monocular visionerror weightingpose estimationiteration. |
| spellingShingle | Jiashan Cui Changwan Min Xiangyun Bai Jiarui Cui An Improved Pose Estimation Method Based on Projection Vector With Noise Error Uncertainty IEEE Photonics Journal monocular vision error weighting pose estimation iteration. |
| title | An Improved Pose Estimation Method Based on Projection Vector With Noise Error Uncertainty |
| title_full | An Improved Pose Estimation Method Based on Projection Vector With Noise Error Uncertainty |
| title_fullStr | An Improved Pose Estimation Method Based on Projection Vector With Noise Error Uncertainty |
| title_full_unstemmed | An Improved Pose Estimation Method Based on Projection Vector With Noise Error Uncertainty |
| title_short | An Improved Pose Estimation Method Based on Projection Vector With Noise Error Uncertainty |
| title_sort | improved pose estimation method based on projection vector with noise error uncertainty |
| topic | monocular vision error weighting pose estimation iteration. |
| url | https://ieeexplore.ieee.org/document/8653304/ |
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