中文摘要：

针对影像位姿耦合不易直接求解的问题，建立了一种高精度分层位姿参数估计的方法。首先，通过选择3点构成面积最大的像点对应的物点作为基点，经投影方程的改化形式方程，得到估计深度及平移信息；然后利用旋转矩阵保范性获得相机外参线元素尺度参数；最后，将问题转化为由向量估计旋转关系问题，利用Procrustes理论得到外参角元素的最佳估值。该方法可有效解决该深度与耦合位姿参数难以处理的问题。试验证明，此方法确定的位姿参数估计模型形式简洁，容易收敛，参数估计精度较直接对投影矩阵分解方法质量要高。

英文摘要：

In order to solve the problem of image pose coupling calculating, this paper has established a high-precision hierarchical estimated pose parameters of image. Firstly, we select corresponding three image points of 3D points which constitute the largest area in image as a base to estimate the depth and translate information. Then based on the above method, we obtain the scale parameter of camera exterior information. Finally, the topic is transformed to a problem of estimating rotation relationship by vector, using Procrustes theory to obtain the best estimation of the angle elements of external parameters. The method can effectively solve problems which depth and coupling pose parameters can not deal with. Experimental results show that this method of determining position and orientation parameter estimation model is of briefness, easy convergence and it can also achieve higher parameter estimation accuracy than the direct projection matrix factorization.