| 摘要 |
A sequence of successive images of a scene is formed using the instrument mounted on a moving carrier, by forming at least two images representing one and the same portion of the scene (P) at two successive instants, and the change of orientation of the line of sight is determined by a step of matching homologous characteristic points (A 1 , A 2 ) in at least two images of the same portion of scene so as to obtain several pairs of homologous points in this portion, and of registering the two images, then by a step of calculating the angular variations in attitude between the two instants at which the two successive images are obtained, by modeling on the basis of a match estimation using a geometric model for associating, with any point (A 1 ) of an image, a corresponding position (P) in the scene and by correcting on the basis of the deviation, in each pair, between on the one hand the estimate, in one of the two images, of the point (A 2 ) homologous to a point (A 1 ) in the other image, provided by the model, and on the other hand the actual position of the homologous point, and finally a step of integration and time filtering pertaining to a sequence of several successive determinations of attitude variations, leading to an estimate of the direction of the line of sight.
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