%0 Journal Article
%T Estimating Motion Parameters From Position Vectors of Feature Points<br>由特征点的空间位置估计运动参数
%A Xu Wenli
%A Liu Wenhuang
%A <br>徐文立
%A 刘文煌
%J 自动化学报
%D 1992
%I 
%X Determining the 3-D relative motion between the camera and the viewed object is an important topic in the field of computer vision. Assume that there are some feature points on the object and their positions in space have been recovered by the stereo vision, this paper discusses how to estimate the motion parameters from the observed position vectors of the feature points. The objective function available in the literatures lead to a nonlinear optimization problem. A new objective function based on the Cayley's theorem is presented in this paper. The relationship between the two objective functions is also discussed.
%K Computer vision
%K 3-D motion
%K quaternion
%K RS decomposition
%K Cayley's formula<br>参数估计
%K 机器视觉
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=5B3AB970F71A803DEACDC0559115BFCF0A068CD97DD29835&cid=8240383F08CE46C8B05036380D75B607&jid=E76622685B64B2AA896A7F777B64EB3A&aid=AF082A970156A5758922EC6DCDE17B58&yid=F53A2717BDB04D52&vid=13553B2D12F347E8&iid=E158A972A605785F&sid=78976D931AD1540F&eid=C66DE7562B0326E2&journal_id=0254-4156&journal_name=自动化学报&referenced_num=4&reference_num=3