On the Second Order Statistics of Essential Matrix Elements

被引：5
|
作者：
Mirabdollah, M. Hossein [1 ]
Mertsching, Baerbel [1 ]
机构：
[1] Univ Paderborn, GET Lab, D-33098 Paderborn, Germany
来源：
PATTERN RECOGNITION, GCPR 2014 | 2014年 / 8753卷
关键词：
Essential matrix; Second order statistics;
D O I：
10.1007/978-3-319-11752-2_45
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
In this paper, we investigate the second order statistics of essential matrix elements. Using the Taylor expansion for a rotation matrix up to second order terms and considering relatively high uncertainties for the rotation angles and translation parameters, a covariance matrix is obtained which includes the second order statistics of essential matrix elements. The covariance matrix is utilized along with the coplanarity equations and acts as a regularization term. Using the regularization term brings considerable improvements in the recovery of camera motion which will be proven based on simulation and different real image sequences.
引用
收藏
页码：547 / 557
页数：11
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