Pose estimation is crucial for visual servoing of mobile robots. This paper solves this problem by using only an off-board camera. First, a new process model customized for mobile robots is proposed. Then with the new process model and a generic camera model, an extended Kalman filter (EKF) pose estimation method appropriate for conventional and fish-eye cameras is designed. Theoretical analysis and simulation results demonstrate that our method is more robust than the traditional filtering method in the presence of occlusion.


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    Titel :

    Pose Estimation for Mobile Robots with Monocular Vision


    Weitere Titelangaben:

    Lect. Notes Electrical Eng.


    Beteiligte:
    Yan, Liang (Herausgeber:in) / Duan, Haibin (Herausgeber:in) / Yu, Xiang (Herausgeber:in) / Fu, Qiang (Autor:in) / Liu, Zhijie (Autor:in) / He, Wei (Autor:in)


    Erscheinungsdatum :

    30.10.2021


    Format / Umfang :

    10 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




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