Image Pose Estimation Based on Procrustes Theory
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RESEARCH ARTICLE
Image Pose Estimation Based on Procrustes Theory Zhenliang Xu1 • Yi Sun2 • Zhenling Ma3 • Yanhuan Li4
Received: 28 June 2016 / Accepted: 25 December 2016 Ó Indian Society of Remote Sensing 2017
Abstract This paper has established a high-precision hierarchical estimated pose parameters of image. Firstly, we select corresponding three image points of 3D points which constitute the largest area in image as a base, in order to estimate the depth and translate information; then based on the above method, we obtain the scale parameter of camera exterior information. And finally, the topic is transformed to a problem of estimating rotation relationship by vector, using Procrustes theory to obtain the best estimate of the angle elements of exterior parameters. The method can effectively solve problems which depth and coupling pose parameters cannot deal with. Experimental results show that this method of determining position and orientation parameter estimation model is of briefness, easy & Zhenliang Xu [email protected] Yi Sun [email protected] Zhenling Ma [email protected] Yanhuan Li [email protected] 1
Research and development department (R&D), China Centre For Resources Satellite Data and Application (CRESDA), No. 5 FengXian East Rd, Haidian District, Beijing City 100094, People’s Republic of China
2
RS&GIS Institute, Peking University, No. 5 YiHeYuan Rd, Haidian, Beijing City 100871, People’s Republic of China
3
College of Marine science, No. 999, Huchenghuan Rd, Pudong District, Shanghai City 201306, People’s Republic of China
4
System Engineering Institute, Liaoning Technical University, No. 47 ZhongHua Rd, Fuxin City 123000, Liaoning Province, People’s Republic of China
convergence and it can also achieve higher parameter estimation accuracy than the direct projection matrix factorization. Keywords Homogeneous coordinates Direct linear transformation (DLT) Base point Procrustes theory Resection Pose estimation
Introduction The pose estimation is one of the basic subject in photogrammetry and computer vision research (Zhang et al. 2004; Yuan and Yu 2012). In photogrammetry, pose estimation is called as resection, which determines the exterior orientation elements of the image. It mainly has two kinds of methods: iterative method and direct method. Iterative solution is a rigorous method, which has high calculating precision and very good geometrical significance, and the accuracy of calculating results was homogeneous, however, it’s computation is large (Wang 1980), and the position’s initial value is needed. The direct solution solves posture parameters directly without initial value, such as direct linear transformation (DLT). DLT sets up the direct linear relationship between image point coordinates and object space coordinates point coordinates, using the least squares method to obtain minimum algebra error solution. With no need for the initial approximation of exterior orientation elements, it has advantages of fast calculating speed in image processing of close
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