Package boofcv.alg.geo.pose
Class PositionFromPairLinear2
java.lang.Object
boofcv.alg.geo.pose.PositionFromPairLinear2
Given two views of N objects and the known rotation, estimate the translation. A linear system is constructed from the equations below and solved for. A minimum of two point observations is required since rotation is already known. This high level characteristics of this algorithm was stated in [1], but the mathematics were not described or sketched.
Derivation:
λx = R*X + T 0 = hat(x)*R*X + hat(x)*T hat(x)*T = hat(x)*R*Xwhere hat(x) is the cross product matrix of the homogeneous (x,y,1) vector, R is a rotation matrix, T is the known translation, and X is the known point in 3D.
[1] Tardif, J.P., Pavlidis, Y., and Daniilidis, K. "Monocular visual odometry in urban environments using an omnidirectional camera," IROS 2008

Constructor Summary

Method Summary
Modifier and TypeMethodDescriptiongetT()
boolean
process
(DMatrixRMaj R, List<Point3D_F64> worldPts, List<Point2D_F64> observed) Computes the translation given two or more feature observations and the known rotation

Constructor Details

PositionFromPairLinear2
public PositionFromPairLinear2()


Method Details

process
Computes the translation given two or more feature observations and the known rotation Parameters:
R
 Rotation matrix. World to view.worldPts
 Location of features in world coordinates.observed
 Observations of point in current view. Normalized coordinates. Returns:
 true if it succeeded.

getT
