Pose estimation with state or measurement constraints is frequently used in autonomous vehicle navigation. With a goal of incorporating constraints inherently, this chapter proposes a dynamic potential field (DPF)‐based formulation to represent states, measurements, and constraints on connected Riemannian manifolds. The state equation and output equation are derived in DPF forms, implying probabilistic inference with states and measurements. Constraints are incorporated by projecting points toward a constraint subset in the state space and measurement space, where the DPF representing constraints is created. An information fusion scheme has been designed for DPFs obtained from multisensor measurements and constraints. KITTI and self‐collected sequences have been used in experiments, during which it is observed that the rotational drift is corrected and translational errors are reduced, thanks to the fusion of stereo visual odometry (SVO), heading measurements, and road maps.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Multi‐Sensor Geometric Pose Estimation


    Beteiligte:
    Liu, Xinghua (Autor:in) / Jiang, Rui (Autor:in) / Chen, Badong (Autor:in) / Sam Ge, Shuzhi (Autor:in)


    Erscheinungsdatum :

    2022-09-27


    Format / Umfang :

    23 pages




    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch





    Method of automatic sensor pose estimation

    ZENG SHUQING / ZHANG XIAN / SONG XIAOFENG F | Europäisches Patentamt | 2018

    Freier Zugriff

    METHOD OF AUTOMATIC SENSOR POSE ESTIMATION

    ZENG SHUQING / ZHANG XIAN / SONG XIAOFENG F | Europäisches Patentamt | 2017

    Freier Zugriff

    Multi-camera head pose estimation

    Muñoz-Salinas, R. / Yeguas-Bolivar, E. / Saffiotti, A. et al. | British Library Online Contents | 2012


    Graph-Optimization base multi-sensor fusion for robust UAV pose estimation

    Mascaró Palliser, Rubén | BASE | 2017

    Freier Zugriff