单应性矩阵H和相机姿态参数R和T关系

单应性矩阵H和相机姿态参数R和T关系

$H$ 矩阵包含什么内容？

相似变换$H_s$ : 旋转、平移、缩放
仿射变换$H_a$
射影变换$H_p$
$H$矩阵为$3\times 3$矩阵，8个自由度

矩阵分解的方法有:

1. Faugeras SVD-based decomposition(orb_slam) ¹
2. Zhang SVD-based decomposition²
3. Analytical decomposition(opencv)³

结果：共8组可能的解$(R,T)$，选出3D点在相机前方最多的解为最优解

转载：https://zhuanlan.zhihu.com/p/140035703

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1. Faugeras O D, Lustman F. Motion and structure from motion in a piecewise planar environment.1988 ↩︎

2. Zhang SVD-based：3D Reconstruction Based on Homography Mapping ↩︎

3. Analytical decomposition: Deeper understanding of the homography decomposition for vision-based control ↩︎