偏航角对P3P位姿测量鲁棒性的影响分析

本文从工程应用的角度出发，在三个控制点构成等腰三角形且仅考虑图像坐标检测误
差的条件下，研究偏航角对P3P 位姿测量方法鲁棒性的影响。首先在理论上推导出位姿参数误差与图像坐标检测误差间的关系，在此基础上通过简化条件下的理论推导结合一般条件下的统计分析得到当偏航角为0°时，测量位姿的鲁棒性较好。这一结论对位姿测量系统的设计具有一定的指导意义。
关键词：位姿测量 偏航角 鲁棒性 P3P
Influence Analysis of Yaw Angle to the Robustness of P3P ZHU Feng1,2), OU Jinjun1), HAO Yingming1), WU Qingxiao1), ZHOU Jing1), FU Shuangfei1) 1)(Shenyang Institute of Automation, Chinese Academy of Sciences，Shenyang，110016) 2)(Graduate School of Chinese Academy of Sciences, Beijing, 100039) Abstract: In this paper, from the view of engineering application, under the condition that three control points formed an isosceles triangle and only the error of image coordinates was considered, the influence of yaw angle to the robustness of P3P pose estimation method was developed. Firstly the relationship between the error of pose parameters and the error of image coordinates can be
obtained by theoretical deduction. Upon above analysis, based on the theoretical deduction under simplified condition and general statistical analysis, the following conclusion could be drawn. When the yaw angle was 0°, the robustness of pose estimation was relatively better. This conclusion is significant for the design and realization of pose estimation system.
Key words: pose estimation yaw angle robustness P3P