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Study on Pose Estimation Using Single Camera Based on Object Model

Author: CaiWeiKe
Tutor: WenGongJian
School: National University of Defense Science and Technology
Course: Photogrammetry and Remote Sensing
Keywords: Photogrammetry Single camera Pose parameters Energy function Mode shift method Image Segmentation Mean Shift
CLC: P231
Type: Master's thesis
Year: 2006
Downloads: 129
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Abstract


Using a single camera to estimate the target position and orientation parameters in targeting , scene monitoring and updating , target recognition , automatic navigation and other fields have a wide range of applications . How to quickly and accurately estimate pose parameters of the target is an urgent need to solve the hot issues . The second chapter summary and analysis of the existing estimation techniques based on a single target position and orientation of the camera parameters , the mainstream technology is currently under the premise of the corresponding relationship between the manually specify the target point with imaging point , known correspondence by perspective solving method to estimate the parameters of the position and orientation . In recent years , in order to achieve full automation of the process solver , have been proposed hypothesis testing , solving global objective function strategy to solve the problem of the correspondence and pose parameters estimated . So far , there is not a way to solve existing pose parameter estimation algorithm dominant or recessive corresponding problem . To this end , the paper proposed a new method . This method is avoided through the establishment of a strategy to contain pose parameters of the energy function corresponding to the problem , pose parameter estimation problem is converted to energy optimization problem . Firstly, to establish a true three-dimensional model of the target , and then define the energy function of the degree of overlap between the the target model simulation projection out of the target area as well as from the image segmentation , the last mode mobile method to solve the energy function optimal solution . Papers using the mean shift image segmentation method to solve the problem of object segmentation . In addition to completely evaded correspondence , the proposed method has the following advantages : ( 1) it is to achieve full automation of the the pose parameters solver process ; (2) It uses as much as possible of the corresponding point solver bit pose parameters , and with greater accuracy than existing methods . Finally, we use simulation data to verify the pose parameter estimation method proposed in this paper , the simulation results show that : the proposed method is correct and effective .

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CLC: > Astronomy,Earth Sciences > Surveying and Mapping > Photogrammetry and Surveying, Mapping and Remote Sensing > Aerial Photogrammetry
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