| 摘要 |
A method of comparing two object poses, wherein each object pose is expressed in terms of position, orientation and scale with respect to a common coordinate system, the method comprising: calculating a distance between the two object poses, the distance being calculated using the distance function: d sRt ( X , Y ) = d s 2 ( X , Y ) &sgr; s 2 + d r 2 ( X , Y ) &sgr; r 2 + d t 2 ( X , Y ) &sgr; t 2 . where X is the object pose of one object and Y is the object pose of the other object, d s ( X , Y ) = log ( s ( X ) s ( Y ) ) , d r ( X , Y ) = R ( X ) - R ( Y ) F , d t ( X , Y ) = t ( X ) - t ( Y ) s ( Y ) , s(X) and s(Y) are scalar functions representing the scale of the object poses X and Y respectively, R(X) and R(Y) are matrices expressing the rotation of object poses X and Y respectively, t(X) and t(Y) are vectors expressing the translation of object poses X and Y respectively, and &sgr;s, &sgr;r and &sgr;t are weighting factors for ds, dr and dt respectively. |
