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.