Resolving homography decomposition ambiguity based on orientation sensors

摘要

A homography between two captured images of a planar object is decomposed into at least one possible solution, and typically at least two ambiguous solutions. The ambiguity between the two solutions is removed, or a single solution validated, using measurements from orientation sensors. The measurements from orientation sensors may be used by comparing at least one of the yaw, pitch, and/or roll angles derived from a relative rotation matrix for the one or more solutions to a corresponding at least one of the yaw, pitch, and/or roll angles derived from the measurements from the orientation sensors.

主权项

1. A method comprising:
capturing two images of a planar object from different positions; determining a homography between the two images; decomposing the homography to obtain at least one possible solution, wherein decomposing the homography produces a relative rotation matrix between the two images for each of the at least one possible solution; using measurements from orientation sensors to determine if the at least one possible solution is correct, wherein using the measurements from the orientation sensors comprises:
determining a measurement based relative rotation matrix using the measurements from the orientation sensors;comparing the relative rotation matrix between the two images for each of the least one possible solution to the measurement based relative rotation matrix to determine if the at least one possible solution is correct; and storing a correct solution.