摘要： 针对基于多个点线特征的位姿估计问题，该文将点线特征约束统一成二次型约束的形式，并引入EIV模型描述影响点线特征投影的噪声。为了简化问题，采用伪线性化方法，并提出了基于奇异值分解的迭代算法来估计位姿参数。实验表明该算法受初始值影响小，收敛快，能够提供高精度和鲁棒的位姿估计结果。

关键词: 双重四元数, EIV模型, 位姿估计

Abstract: For the pose estimation problem using n points or n lines, this paper turns the point or line correspondences into the unified quadratic forms. Since the 2D perspective projection point or line features are corrupted by noise, it introduces EIV model to describe it. It also emploies pseudo-linearization to simplify the problem and proposes an iterative algorithm based on SVD to estimate the pose parameters. The method has a weaker dependence on the initial solution and a fast convergence. Experimental results demonstrate the reliable accuracy and robustness of the method.

Key words: dual number quaternions, Errors-In-Variables (EIV) model, pose estimation

中图分类号: 

• TP311