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ID 48125
フルテキストURL
著者
Kanatani, Kenichi Department of Computer Science, Okayama University
Niitsuma, Hirotaka Department of Computer Science, Okayama University
抄録
We optimally estimate the similarity (rotation, translation, and scale change) between two sets of 3-D data in the presence of inhomogeneous and anisotropic noise. Adopting the Lie algebra representation of the 3-D rotational change, we derive the Levenberg-Marquardt procedure for simultaneously optimizing the rotation, the translation, and the scale change. We test the performance of our method using simulated stereo data and real GPS geodetic sensing data. We conclude that the conventional method assuming homogeneous and isotropic noise is insufficient and that our simultaneous optimization scheme can produce an accurate solution.
発行日
2012-01
出版物タイトル
Memoirs of the Faculty of Engineering, Okayama University
出版物タイトル(別表記)
岡山大学工学部紀要
46巻
出版者
Faculty of Engineering, Okayama University
開始ページ
1
終了ページ
9
ISSN
1349-6115
NCID
AA12014085
資料タイプ
紀要論文
言語
English
著作権者
Copyright © by the authors
論文のバージョン
publisher
査読
無し
Eprints Journal Name
mfe