仅用4个以上已知点即可快速估算相机相对平面位置与朝向。
A Simple Algebraic Solution for Estimating the Pose of a Camera from Planar Point Features
- 通过分步求解：先定平面法向，再算相机位置和姿态。
- 引入平均法提升对测量噪声的鲁棒性，精度更稳定。
- 适合需要快速、高鲁棒性位姿估计的工业或机器人场景。
本文提出一种简单的代数方法，仅需 n ≥ 4 个在目标坐标系中已知坐标的参考点及其在相机坐标系中的方向测量值，即可估计相机相对于平面目标的位姿。该方法采用分层结构：首先确定目标平面的单位法向量，随后计算相机的位置向量、到平面的距离，最后得到完整姿态。为增强对测量噪声的鲁棒性，引入平均策略优化平面法向估计。通过大量实验验证了该方法的准确性和稳定性。
原文摘要 · Abstract (English)
This paper presents a simple algebraic method to estimate the pose of a camera relative to a planar target from $n \geq 4$ reference points with known coordinates in the target frame and their corresponding bearing measurements in the camera frame. The proposed approach follows a hierarchical structure; first, the unit vector normal to the target plane is determined, followed by the camera's position vector, its distance to the target plane, and finally, the full orientation. To improve the method's robustness to measurement noise, an averaging methodology is introduced to refine the estimation of the target's normal direction. The accuracy and robustness of the approach are validated through extensive experiments.
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