Research on the Effect of Quantization Error on the Accuracy of Pose Estimation from Straight Lines
ZHU Feng1,3, QIN Li-juan1,3, TAN Da-long1,2
1. Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China; 2. Robotics Laboratory, Chinese Academy of Sciences, Shenyang 110016, China; 3. Graduate School of the Chinese Academy of Sciences, Beijing 100049, China
朱枫, 秦丽娟, 谈大龙. 量化误差对直线位姿估计精度影响的研究[J]. 机器人, 2007, 29(4): 348-352..
ZHU Feng, QIN Li-juan, TAN Da-long. Research on the Effect of Quantization Error on the Accuracy of Pose Estimation from Straight Lines. ROBOT, 2007, 29(4): 348-352..
Abstract：This paper analyzes the propagation characteristics of quantization errors for pose estimation problem from straight lines.The mathematical model for the effect of image quantization errors on the pose estimation results is set up in the form of closed-form solution.At the same time,this paper presents a method to select straight lines based on the analysis of the propagation characteristics of quantization errors.At last,the optimum line configuration is determined and the accuracy of pose estimation is increased.
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