获取pnp或posit的2d-3d点对应关系 [英] obtaining 2d-3d point correspondences for pnp or posit

问题描述

我正在尝试根据给定的卫星图像来估计卫星的姿态和位置.我有卫星的3D模型.当我自己挑选点对应关系时，使用PnP求解器或POSIT都可以很好地工作，但是我需要找到一种自动匹配点的方法.使用拐角检测器(到目前为止，我发现的最好的是基于轮廓)，除了几个虚假点之外，我还可以找到图像中的所有相关点.但是，我需要将图像中的给定点与3D模型中的正确点进行匹配.我所读过的关于该主题的文章似乎总是以我们发现了点对而没有详细介绍如何做.

I am trying to estimate the pose and position of a satellite given an image of it. I have a 3D model of the satellite. Using either PnP solvers or POSIT works great when I pick out the point correspondences myself, however I need to to find a method to match the points up automatically. Using a corner detector (best one I found so far is based on the contour) I can find all the relevant points in the image in addition a few spurious points. However I need to match a given point in the image to the correct point in the 3D model. The articles I have read on the subject always seem to assume that we have found the point pairs without going into details about how to do so.

通常是否有任何方法可以根据某些不变特征确定这些对应关系?还是我应该采用不基于拐角点的其他方法?

Is there any approach usually taken that can determine these correspondences based on some invariant features? Or should i resort to a different method not based on corner points?

推荐答案

您可以看一下SoftPOSIT算法，该算法确定3D-2D对应关系，然后执行POSIT算法.据我所知，Matlab代码可用于SoftPOSIT.

You can have a look at the SoftPOSIT algorithm, which determines 3D-2D correspondences and then executes POSIT algorithm. As far as I know Matlab code is available for SoftPOSIT.

这篇关于获取pnp或posit的2d-3d点对应关系的文章就介绍到这了，希望我们推荐的答案对大家有所帮助，也希望大家多多支持IT屋！