Pose and motion recovery from feature correspondences and a digital terrain map
Pose and motion recovery from feature correspondences and a digital terrain map
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从特征对应和数字地形图恢复姿势和运动
DOI：
10.1109/tpami.2006.192
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发表时间：
2006
影响因子：
23.6
通讯作者：
H. Rotstein
中科院分区：
文献类型：
--
作者：
Ronen Lerner;E. Rivlin;H. Rotstein
提出了一种利用数字地形图和相应特征进行姿态和运动估计的新算法。使用数字地形（或数字高程）地图（DTM/DEM）作为全球参考，使消除模糊存在于基于视觉的运动恢复算法。因此，可以恢复相机相对于外部参考系的绝对位置和取向。为了做到这一点，DTM被用来制定两个连续帧中的相应特征之间的约束。不需要3D世界的显式重建。当考虑多个特征点时，可以使用位置、方向和运动方面的非线性优化来解决所得到的约束。这样一个过程需要对这些参数进行初步猜测，这些参数可以从航位推算或任何其他来源获得。通过大量的实验验证了该算法的可行性。性能进行了比较，一个国家的最先进的替代算法，中间重建的3D结构，然后将其注册到DTM。一个明显的优势，新的算法是证明在各种情况下，
A novel algorithm for pose and motion estimation using corresponding features and a digital terrain map is proposed. Using a digital terrain (or digital elevation) map (DTM/DEM) as a global reference enables the elimination of the ambiguity present in vision-based algorithms for motion recovery. As a consequence, the absolute position and orientation of a camera can be recovered with respect to the external reference frame. In order to do this, the DTM is used to formulate a constraint between corresponding features in two consecutive frames. Explicit reconstruction of the 3D world is not required. When considering a number of feature points, the resulting constraints can be solved using nonlinear optimization in terms of position, orientation, and motion. Such a procedure requires an initial guess of these parameters, which can be obtained from dead-reckoning or any other source. The feasibility of the algorithm is established through extensive experimentation. Performance is compared with a state-of-the-art alternative algorithm, which intermediately reconstructs the 3D structure and then registers it to the DTM. A clear advantage for the novel algorithm is demonstrated in variety of scenarios
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DOI：
10.1007/978-1-4939-7647-8_1
发表时间：
2018
期刊：
Neuromethods
影响因子：
--
作者：
Joshi,AnandA
通讯作者：
Joshi,AnandA