Introduces a family of 4/spl times/4/spl times/4 tensors, referred to as "join tensors" or Jtensors for short, which perform "3D to 3D" alignment between coordinate systems of sets of dynamic 3D points. 3D configurations of points are obtained by a 3D measuring device (such as a structured light or laser range sensor, or a stereo rig) at times t/sub 1/, t/sub 2/, t/sub 3/ from different viewing positions in addition to the motion of the sensor the points are also allowed to move in space; each point can move along an arbitrary straight-line path-we refer to this situation as "dynamic". The problem is to recover the motion of the sensor given the 3D correspondences of the points over time. We introduce Jtensors to capture the problem described above. Three observations P, P', P'' of a point measured at three time instants contribute a linear measurement to the Jtensor, regardless of whether the point has moved in space or has remained stationary while the sensor has changed position.
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机译:介绍一个4 / SPL时间/ 4/4 / SPL时/ 4张卷,简称为“加入张量”或jtensors,这对动态3D点组坐标系进行了“3D到3D”对齐。 3D配置点由3D测量装置(例如结构化光或激光范围传感器或立体声钻机)在时间t / sub 1 /,t / sub 2 /,t / sub 3 /来自不同观看位置而获得除了传感器的运动之外,还允许点在空间中移动;每个点可以沿着任意的直线路径移动 - 我们将这种情况称为“动态”。问题是给出传感器的动作给定时间随时间的3D对应关系。我们介绍JTENSORS以捕获上述问题。在三次时刻测量的点的三个观察P,P',P''对JTensor有助于线性测量,而不管该点是否已经在空间中移动或者在传感器发生变化时静止。
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