A New Robust Algorithm lor Estimation of 3-D Rotation Parameters ol Rigid Objects

Sun Xue-ning; Li Yin-jie; Yan Ping-fan; Chang Tong

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A New Robust Algorithm lor Estimation of 3-D Rotation Parameters ol Rigid Objects

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- A New Robust Algorithm lor Estimation of 3-D Rotation Parameters ol Rigid Objects
- Acta Electronica Sinica Issue 6, Pages: 32-39(1989)
- 作者机构：
  
  清华大学自动化系
- 作者简介：
- 基金信息：
- DOI：
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- Published：1989
- 稿件说明：
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[1]孙学宁,李英杰,阎平凡,常迥.一种估计运动刚体旋转参数的鲁棒方法[J].电子学报,1989(06):32-39.

Sun Xue-ning, Li Yin-jie, Yan Ping-fan, et al. A New Robust Algorithm lor Estimation of 3-D Rotation Parameters ol Rigid Objects[J]. Acta Electronica Sinica, 1989, (6): 32-39.
[1]孙学宁,李英杰,阎平凡,常迥.一种估计运动刚体旋转参数的鲁棒方法[J].电子学报,1989(06):32-39. DOI：

Sun Xue-ning, Li Yin-jie, Yan Ping-fan, et al. A New Robust Algorithm lor Estimation of 3-D Rotation Parameters ol Rigid Objects[J]. Acta Electronica Sinica, 1989, (6): 32-39. DOI：

摘要

在计算机视觉领域中

估计运动物体的旋转参数是其中的重要内容之一。本文提出了一种新的估计旋转参数的鲁棒方法

这种方法避免了求解非线性方程组

所采用的都是线性运算

不仅如此

这种方法在数值准确性、鲁棒性和保证旋转矩阵的正交性方面都优于现存的方法。用模拟数据进行了大噪声条件下的实验

结果是令人满意的。

Abstract

In motion analysis of computer vision

estimation of 3-D rotation parameters is a very important subject. Unfortunately

the existing algorithms for this subject have some disadvantages

especially in robustness. In this paper

a new robust algorithm has been proposed

based on the idea of making full use of constraints or priori information on the problem. The algorithm only involves linear operations instead of solving nonlinear equa- tions. Moreover

the algorithm has advantages than the existing algorithms in numerical accuracy

robustness

and orthogonality of rotation matrix. The results are very satisfactory with noisy synthetic data.

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