快速，稳健，一致的相机运动估计

Proceedings. 1999 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (Cat. No PR00149) Pub Date : 1999-06-23 DOI:10.1109/CVPR.1999.786934

Tong Zhang, Carlo Tomasi

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引用次数: 60

摘要

以前从图像速度中恢复相机运动的算法在结果中存在偏差和过大的方差。我们提出了一种鲁棒的相机运动估计，当图像噪声是各向同性时，该估计在统计上是一致的。一致性是指随着图像点数量的增加，估计的运动在概率上收敛到真实值。一种基于重加权高斯-牛顿迭代的算法在工作站上处理100次速度测量大约50毫秒。

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Fast, robust, and consistent camera motion estimation

Previous algorithms that recover camera motion from image velocities suffer from both bias and excessive variance in the results. We propose a robust estimator of camera motion that is statistically consistent when image noise is isotropic. Consistency means that the estimated motion converges in probability, to the true value as the number of image points increases. An algorithm based on reweighted Gauss-Newton iterations handles 100 velocity measurements in about 50 milliseconds on a workstation.

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Proceedings. 1999 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (Cat. No PR00149)

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