Improved position and orientation estimation method based on Tsai algorism

Abstract

The invention discloses an improved position and orientation estimation method based on a Tsai algorism.The method includes the steps that a utilized camera is subjected to calibration, and the camera focal length is obtained; under the currently utilized position and orientation of the camera, five or more coplanar feature points in the space are subjected to imaging, any feature point P0 in the feature points serves as an original point to establish a world coordinate system, and world coordinates and image coordinates of the feature points are obtained; the rotation matrix R of a camera coordinate system relative to the world coordinate system is solved through the Tsai algorism; the translation vector T of the camera system where the camera is located relative to the world coordinate system is solved according to the rotation matrix R, the camera focal length and obtained segment length between every two feature points; position and orientation parameters of the camera are solved according to the rotation matrix R and the translation vector T.The improved position and orientation estimation method has the advantages that on the basis of solving the rotation matrix R through the Tsai algorism, the solving process of the translation vector T is improved, precision and real-time performance of position and orientation estimation are improved, and thus the application range is greatly improved.

Description

technical field [0001] The invention relates to a pose estimation method, in particular to an improved pose estimation method based on the Tsai algorithm, which can be applied to visual positioning and navigation in the field of computer vision. Background technique [0002] Vision-based pose estimation technology is one of the research hotspots in the field of computer vision, and it is an important part of visual positioning and navigation technology. The vision-based pose estimation technology captures the image of the space cooperation target through the camera, and solves the pose parameters of the camera through image processing and pose estimation algorithms. It has the characteristics of moderate accuracy, low cost, independent and flexible use, and anti-electromagnetic interference. [0003] The Tsai algorithm is a commonly used calibration algorithm, which can be applied to pose estimation, and uses several feature points that are coplanar in space as cooperative t...

AI Technical Summary

Problems solved by technology

However, when the distance from the camera to the feature point increases, the Tsai algorithm has a higher accuracy in solving the rotation matrix R, but has a lower accuracy in solving the translation vector T, and its iterative algorithm for solving the translation vector T is complex and real-time. Low

Therefore, the current range of pose estimation is limited and needs to be improved

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