CAJ | 학술논문

从二维图像提取到的特征点相对位置信息,利用对于目标物体的先验知识如边缘比例、夹角特征等,形成基于投影成像规则的变量约束方程,从而将物体姿态计算问题转化为一个非线性优化问题,通过多个局部约束线索形成全局约束,能够迅速对物体的姿态做出比较准确的估计,从而推算出视角等信息.实现这个转化的一个前提假设是,对于我们理解图像中物体的姿态,特征位置点的相对位置而不是绝对位置,起着关键作用.因此计算是在一个假设的深度上进行的,从效果来看这样的假设并不影响物体的住姿计算.本文的方法计算量小,利用几何特征来识别稳定、可靠、泛化能力好,实践证明使用几何特征的约束可满足方法能获得关于姿态的极少量可能解,识别出的姿态在各条边之间的比例关系上具有不变性,继而可以将其应用于不变性识别的实际问题之中.
종이유도상제취도적특정점상대위치신식,이용대우목표물체적선험지식여변연비례、협각특정등,형성기우투영성상규칙적변량약속방정,종이장물체자태계산문제전화위일개비선성우화문제,통과다개국부약속선색형성전국약속,능구신속대물체적자태주출비교준학적고계,종이추산출시각등신식.실현저개전화적일개전제가설시,대우아문리해도상중물체적자태,특정위치점적상대위치이불시절대위치,기착관건작용.인차계산시재일개가설적심도상진행적,종효과래간저양적가설병불영향물체적주자계산.본문적방법계산량소,이용궤하특정래식별은정、가고、범화능력호,실천증명사용궤하특정적약속가만족방법능획득관우자태적겁소량가능해,식별출적자태재각조변지간적비례관계상구유불변성,계이가이장기응용우불변성식별적실제문제지중.
The position information about target points extracted from an image can be formed into constraint equations based on the perspective projection rules and priori knowledge about object such as angles and ratio of edges.Then the problem of pose estimation can be converted into a nonlinear optimization problem.The overall solution of pose estimation can be gotten from local clues.The ob-servation perspective can also be estimated from this information.During the calculation procedure it is assumed that the object is loca-ted in some depth and the relative depth not absolute depth of different points on object plays the important role for the problem of pose and observation perspective estimation.The experiments show that the error caused by this assumption can be tolerated for the problem of pose estimation.This approach needs a small amount of calculation.The use of the geometric characteristics makes the process of calculation stable,reliable,and with fine generalization ability.The method of consuaint satisfaction can generate only a ver-y small amount of possible solutions.The relationship within edges in the pose of estimation maintains invariant.This can be used for the problem of invariant recognition.