相机模型
s m = A [ R ∣ t ] M [ u v 1 ] = [ f x 0 u 0 0 f y v 0 0 0 1 ] [ r 11 r 12 r 13 t 1 r 12 r 22 r 23 t 2 r 13 r 32 r 33 t 3 ] [ X Y Z 1 ] sm=A[R|t]M \\ \begin{bmatrix} u \\ v \\ 1 \end{bmatrix}= \begin{bmatrix} f_x &0&u_0\\ 0&f_y&v_0 \\ 0&0&1 \end{bmatrix} \left[ \begin{array}{ccc|c} r_{11}&r_{12}&r_{13}&t_1\\ r_{12}&r_{22}&r_{23}&t_2\\ r_{13}&r_{32}&r_{33}&t_3\\ \end{array} \right] \begin{bmatrix} X\\ Y\\ Z\\ 1 \end{bmatrix} sm=A[R∣t]M⎣⎡uv1⎦⎤=⎣⎡fx000fy0u0v01⎦⎤⎣⎡r11r12r13r12r22r32r13r23r33t1t2t3⎦⎤⎣⎢⎢⎡XYZ1⎦⎥⎥⎤
(7)
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\left[ \begin{array}{cc|c} 1 & 2 & 3 \\ 4 & 5 & 6 \end{array} \right] \tag{7}
[142536](7)
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m
x_{\rm m}
xm为测量输出，
x
x
x为真值，
b
b
b为零偏，
n
n
n为速
[ r 11 r 12 r 13 t 1 r 12 r 22 r 23 t 2 r 13 r 32 r 33 t 3 ] \left[ \begin{array}{ccc|c} r_{11}&r_{12}&r_{13}&t_1\\ r_{12}&r_{22}&r_{23}&t_2\\ r_{13}&r_{32}&r_{33}&t_3\\ \end{array} \right] ⎣⎡r11r12r13r12r22r32r13r23r33t1t2t3⎦⎤
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