Tao Li, Banglei Guan, Jiaming Zhang, Fang Sun, Yang Shang. Relative Pose Measurement Method for Monocular Cameras By Combining the Point and Line Features[J]. Laser & Optoelectronics Progress, 2020, 57(8): 081102
- Laser & Optoelectronics Progress
- Vol. 57, Issue 8, 081102 (2020)
Fig. 1. Measurement system
Fig. 2. Camera coordinates system correction. (a) Before correction; (b) after correction
Fig. 3. Results of simulation experiment. (a)(b) Residual value with varying noise; (c)(d) residual value with varying roll angle error; (e)(f) residual value with varying pitch angle error
Fig. 4. Results of line matching. (a)(b) Matching results of 1st frame and 5th frame; (c)(d) matching results of 1st frame and 10th frame
Fig. 5. Results of point matching. (a) 1st frame; (b) 10th frame
Fig. 6. Results of point-line matching. (a) 1st frame; (b) 10th frame
Fig. 7. Track maps of camera movement. (a)(b) 3D view; (c)(d) X-Y view; (e)(f) X-Z view; (g)(h) Y-Z view
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Table 1. Residual of rotation matrix and translation vector
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