【摘要】 已知含有多个三维刚体的场景，在运动前后的二维点对应数据集合，其中可以包含高斯噪声和出格点数据，发展了初始部分匹配的生成－生长技术并运用刚性约束．将上述二维点对应数据集合，分割成多个分别对应于不同刚体运动的二维点对应数据子集，并能分离出所有出格点数据．再利用单刚体运动估计算法就可估计出各个刚体运动参数．实验结果表明了算法的有效性．更多还原

【Abstract】 ,Given the 2 D point correspondence set, which may be corrupted by both Gaussian noise and outliers, of a scene containing multiple rigid objects, and based on the rigidity constraint,the proposed algorithm, consisting of the initial partial match generation and growth, can segment the above set into several subsets corresponding to different 3 D rigid motions and outliers. The motion parameters of each rigid motion can then be obtained by the motion estimation algorithm for single 3 D rigid object. Computer simulation results demonstrate the effectiveness and efficiency of the algorithm.更多还原