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关于去除动态特征点问题？ #7

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JinLn opened this issue Mar 11, 2021 · 0 comments
Open

关于去除动态特征点问题？ #7

JinLn opened this issue Mar 11, 2021 · 0 comments

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@JinLn
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JinLn commented Mar 11, 2021

我现在也在研究动态slam，我去出动态点的方法是使用对极几何方法，即p2Fp1=0，我在算出前一帧到后一帧的Ｆ基础矩阵，例如Ｆ= -2.88867e-10 -4.37127e-07 0.000212317
4.37122e-07 -2.89431e-10 -0.000261706
-0.000212389 0.00026198 8.34335e-05
动态验证对象匹配点p1[1034.93, 817.583]--->p2[1082.92, 854.007],我将这点归一化后，即F*[1034.93; 817.583;1]!=[1082.92;854.007;1]，这个结果相差很多，我不知道我哪里处理问题，希望能得到你的答复！
祝福工作顺利，生活愉快！
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