Reduced homography for recovery of pose parameters of an optical apparatus producing image data with structural uncertainty

摘要

A reduced homography H for an optical apparatus to recover pose parameters from imaged space points P_i using an optical sensor. The electromagnetic radiation from the space points P_i is recorded on the optical sensor at measured image coordinates. A structural uncertainty introduced in the measured image points is determined and a reduced representation of the measured image points is selected based on the type of structural uncertainty. The reduced representation includes rays {circumflex over (r)}_i defined in homogeneous coordinates and contained in a projective plane of the optical apparatus. At least one pose parameter of the optical apparatus is then estimated by applying the reduced homography H and by applying a condition on the motion of the optical apparatus, the condition being consonant with the reduced representation employed in the reduced homography H.