【摘要】 本文通过理论分析,严格证明了本质矩阵通过奇异值分解可以唯一地获得旋转参数两个可能解,同时利用单位球进一步给出并证明了两个可能解直观的几何描述。同时将这种运动参数估计方法引入立体视觉中图像校正等问题,所给出的校正算法能够保证校正后的图像满足透视几何约束。更多还原

【Abstract】 The uniqueness of the motion parameters is discussed though the Essential matrix SVD decomposition. It has been proved that the two candidates of rotational matrix could be uniquely determined by computing the SVD decomposition of Essential matrix. And the intuitionistic geometric descriptions of the two candidates are given though the unit sphere. The given method for estimating the motion parameters is introduced to the image rectification for stereo vision. The presented algorithm can ensure that the rectified images preserve perspective geometry.更多还原