量化误差对直线位姿估计精度影响的研究

Research on the Effect of Quantization Error on the Accuracy of Pose Estimation from Straight Lines

摘要: 针对直线位姿估计问题分析了量化误差的传播特性，并以闭式解的形式建立了位姿估计结果受图像量化误差影响的数学模型．同时，在分析量化误差传播特性的基础上，给出了直线的选线方法．最后，确定了最优直线配置，提高了位姿估计精度．

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.