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含有平面结构场景的捆绑调整

谢远帆 吴毅红 范力欣

谢远帆, 吴毅红, 范力欣. 含有平面结构场景的捆绑调整. 自动化学报, 2014, 40(8): 1601-1611. doi: 10.3724/SP.J.1004.2014.01601
引用本文: 谢远帆, 吴毅红, 范力欣. 含有平面结构场景的捆绑调整. 自动化学报, 2014, 40(8): 1601-1611. doi: 10.3724/SP.J.1004.2014.01601
XIE Yuan-Fan, WU Yi-Hong, FAN Li-Xin. Bundle Adjustment for Scenes Containing Planes. ACTA AUTOMATICA SINICA, 2014, 40(8): 1601-1611. doi: 10.3724/SP.J.1004.2014.01601
Citation: XIE Yuan-Fan, WU Yi-Hong, FAN Li-Xin. Bundle Adjustment for Scenes Containing Planes. ACTA AUTOMATICA SINICA, 2014, 40(8): 1601-1611. doi: 10.3724/SP.J.1004.2014.01601

含有平面结构场景的捆绑调整

doi: 10.3724/SP.J.1004.2014.01601
基金项目: 

国家重点基础研究发展计划(973计划)(2012CB316302),国家自然科学基金(61070107)资助

详细信息
    作者简介:

    吴毅红 中国科学院自动化研究所研究员. 2001 年获中国科学院系统所理学博士学位. 主要研究方向为摄像机标定,摄像机定位,三维重建.E-mail:yhwu@nlpr.ia.ac.cn

    通讯作者:

    谢远帆 中国科学院自动化研究所博士研究生. 2007 年获中南大学信息科学与工程学院自动化专业学士学位. 主要研究方向为基于视觉的同步定位与地图创建.E-mail:yfxie@nlpr.ia.ac.cn

Bundle Adjustment for Scenes Containing Planes

Funds: 

Supported by National Basic Research Program of China (973 Program) (2012CB316302), and National Natural Science Foundation of China (61070107)

  • 摘要: 捆绑调整是计算机视觉中三维结构恢复过程的重要步骤. 捆绑调整通常将空间中点与点坐标的调整视为相互独立的过程,但是在包含有自然物和人工物的场景中,由于存在多余的自由度,这种调整方法会导致优化结果偏离真值. 提出了一种带有共面约束和平面夹角约束的捆绑调整,用于优化带有平面的场景. 借助新的参数化方法,共面约束和夹角约束可以方便地进行表示,并且带有这两类约束的捆绑调整求解过程,仍然是一个无约束的非线性最小二乘问题. 实验结果表明,这种带有先验信息的捆绑调整提供了对结构的更准确估计. 由于先验信息的加入,增强型法方程的维度变高,借助了稀疏的求解技术和预条件子方法,大大降低了求解时间. 最后,为了在实际应用中能够自动寻找出夹角约束,提出了一种基于最大完全图的贪心方法,该方法尽可能多地保留了夹角约束.
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出版历程
  • 收稿日期:  2012-12-13
  • 修回日期:  2013-08-13
  • 刊出日期:  2014-08-20

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