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一种景物平面法向已知条件下的单应矩阵快速分解算法

DOI: 10.13195/j.kzyjc.2012.1866, PP. 735-738

Keywords: 位姿估计,单应分解,混合视觉伺服

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Abstract:

针对机器人混合视觉伺服控制中的摄像机位姿估计问题,分析欧氏单应矩阵的基本性质,提出一种景物平面法向已知情况下的欧氏单应矩阵快速分解算法.仿真实验结果表明,所提出的算法实现简单,避免了矩阵奇异值分解运算和从多组分解结果中确定惟一解的过程,能够较好地满足视觉伺服控制系统的实时性要求.

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