无对应点三维运动参灵敏估计
3-D MOTION PARAMETER ESTIMATION WITHIUT CORRESPONDING POINTS
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摘要: 本文提出了一种不依赖于对应点数据的三维运动参数估计算法,可以处理包含高以处理包含高斯噪声和出格点(outlier)的观察数据.首先,我们构造一个代价函数来表达三维点集间的部分匹配,将运动参数估计问题转化为一个全局最优化问题,求最大部分匹配.在优化过程中,我们采用了函数逼近技术.大量计算机模拟实验结果充分证明了算法的有效性和鲁棒性.Abstract: This paper presents a 3-D motion parameter estimation algorithm without corresponding points.It can dealwith noisy data containing Gaussian noise and outliers.A cost function represnting partial matchamong 3-D paint sets derived thus the problem of motion estimation is formulated as a global optimization and solved bya function approximation.A greal number of experimental results are given.