Error Analysis of the Motion Estimation Based on SVD Theory
For the two graphics whose internal parameter matrix is known,their epipolar geometry can be determined through the image coordinate matching points which have been observed.However,matching noise will have some impact on the estimation of motion parameter.In this paper,the essential matrix is decomposed by factorization algorithm to get external parameters,which is based on the Singular Value Decomposition (SVD) theory.The error propagation of motion estimation is analyzed based on matrix perturbation and covariance propagation theory of linear model.Meanwhile,the expression of motion estimation error which changes with the essential matrix error is deduced.Finally,the correctness of the deduced results is proved by matlab simulation experiment.
Error Analysis Epipolar Geometry Essential Matrix Covariance Propagation Motion Estimation
SHAO Wei MENG Lin QIN Hao Hua CHEN Hai Yan SUI Shu Lin
College of Automation & Electronic Engineering,Qingdao University of Science & Technology,Qingdao 26 School of Mathematics & Physics,Qingdao University of Science & Technology,Qingdao 266061,China
国际会议
The 33th Chinese Control Conference第33届中国控制会议
南京
英文
915-921
2014-07-28（万方平台首次上网日期，不代表论文的发表时间）