用二维点对应数据分割和估计多刚体运动
Segmenting and Estimating Multiple 3-D Rigid Motions From 2-D Point Correspondences
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摘要: 已知含有多个三维刚体的场景,在运动前后的二维点对应数据集合,其中可以包 含高斯噪声和出格点数据,发展了初始部分匹配的生成-生长技术并运用刚性约束.将上述 二维点对应数据集合.分割成多个分别对应于不同刚体运动的二维点对应数据子集,并能分 离出所有出格点数据.再利用单刚体运动估计算法就可估计出各个刚体运动参数.实验结果 表明了算法的有效性.Abstract: Given the 2-D point correspondence set, which may be corrupted by both Gaussian noise and outliers, of a scene containing multiple rigid objects, and based on the rigidity constraint, the proposed algorithm, consisting of the initial partial match generation and growth, can segment the above set into several subsets corresponding to different 3-D rigid motions and outliers. The motion parameters of each rigid motion can then be obtained by the motion estimation algorithm for single 3-D rigid object. Computer simulation results demonstrate the effectiveness and efficiency of the algorithm.
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