典型文献
An efficient and globally optimal solution to perspective-n-line problem
文献摘要：
This research develops an accurate and efficient method for the Perspective-n-Line (PnL)problem.The developed method addresses and solves PnL via exploiting the problem's geometry in a non-linear least squares fashion.Specifically,by representing the rotation matrix with a novel quaternion parameterization,the PnL problem is first decomposed into four independent subprob-lems.Then,each subproblem is reformulated as an unconstrained minimization problem,in which the Kronecker product is adopted to write the cost function in a more compact form.Finally,the Gr(o)bner basis technique is used to solve the polynomial system derived from the first-order opti-mality conditions of the cost function.Moreover,a novel strategy is presented to improve the effi-ciency of the algorithm.It is improved by exploiting structure information embedded in the rotation parameterization to accelerate the computing of coefficient matrix of a cost function.Experiments on synthetic data and real images show that the developed method is comparable to or better than state-of-the-art methods in accuracy,but with reduced computational requirements.
文献关键词：
中图分类号：
作者姓名：
Qida YU;Guili XU;Zhengsheng WANG;Zhenhua LI
作者机构：
College of Automation Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 211106,China
文献出处：
引用格式：
[1]Qida YU;Guili XU;Zhengsheng WANG;Zhenhua LI-.An efficient and globally optimal solution to perspective-n-line problem)[J].中国航空学报（英文版）,2022(03):400-407
A类：
PnL,subprob
B类：
An,globally,optimal,solution,perspective,This,research,develops,accurate,Perspective,Line,developed,addresses,solves,via,exploiting,geometry,linear,least,squares,fashion,Specifically,by,representing,rotation,matrix,novel,quaternion,parameterization,first,decomposed,into,four,independent,lems,Then,each,subproblem,reformulated,unconstrained,minimization,which,Kronecker,product,adopted,write,cost,function,more,compact,Finally,Gr,bner,basis,technique,used,polynomial,system,derived,from,order,mality,conditions,Moreover,strategy,presented,ciency,algorithm,It,improved,structure,information,embedded,accelerate,computing,coefficient,Experiments,synthetic,data,real,images,show,that,comparable,better,than,state,art,methods,accuracy,but,reduced,computational,requirements
AB值：
0.608645
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