Robustness Analysis of Pose Estimation relative to the Calibration Error
在三个控制点构成等腰三角形的前提下,研究P3P位姿测量结果对像机内参数标定误差的鲁棒性。采用简化条件下的理论推导结合一般条件下的仿真实验,得到了像机内参标定误差引起的位姿测量结果误差与像机焦比成反比,与主点坐标无关,随控制点间距离的增大而减小,随测量距离的增大而增大;6个位姿量中,除光轴方向平移量的误差主要受焦比误差的影响外 ...
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