问算法14.2本征参数的计算机视觉ML学习

EN

begin 

// Main loop for alternating optimization 

for t=1 to T do 

// Compute extrinsic parameters 

[Ω,τ] = calcExtrinsic[Λ,{wi,xi}I i=1] \\Ω is the rotation matrix,τ is the translation

// Compute intrinsic parameters 

for i=1 to I do

// Compute matrix Ai 

ai = (ω1•wi + τx)/(ω3•wi + τz) 

// ωk• is kth row of Ω 

bi = (ω2•wi + τy)/(ω3•wi + τz) 

Ai = [ai,bi,1,0,0;0,0,0,bi,1]
 
end 

// Concatenate matrices and data points

x = [x1;x2;...xI] 

A = [A1;A2;...AI] 

// Compute parameters 

θ = (A^TA)−1A^Tx 

Λ = [θ1,θ2,θ3;0,θ4,θ5;0,0,1] 

end 

// Refine parameters with non-linear optimization Λ