Accelerative and Weighted Camera Pose Estimation Based on Extended Orthogonal Iterative Algorithm

Abstract

The camera pose estimation algorithm is typically more based on reference points and less on the linear information in the image.In this paper,based on the extended orthogonal iteration,an accelerative and weighted camera pose estimation algorithm based on the combination of point and line segments is proposed to ensure a good anti-interference and real-time performance of the algorithm.The algorithm considers the sum of the weighted collinearity error and the weighted coplanarity error as the error function.The weight coefficients are determined by the depth information and the re-projection error of the initial value.In addition,the algorithm accelerates the iterative process and reduces the time complexity of the iteration process dramatically from O(n)to O(1).The simulation results demonstrate that the algorithm can suppress the interference of abnormal points and reduce the calculation time.The calculation accuracy of the rotation matrix is 51.69%higher than that of the traditional orthogonal iterative algorithm,and the calculation accuracy of the translation vector is increased by 51.21%.Furthermore,the calculation time after the acceleration is reduced by 47.11%.The physical experiment shows that the algorithm can make full use of the detected reference points and reference line information,improve the calculation accuracy,reduce the cumulative error,and has high practical application value.