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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    Title :

    Pose Estimation for Mobile Robots with Monocular Vision


    Additional title:

    Lect. Notes Electrical Eng.


    Contributors:
    Yan, Liang (editor) / Duan, Haibin (editor) / Yu, Xiang (editor) / Fu, Qiang (author) / Liu, Zhijie (author) / He, Wei (author)


    Publication date :

    2021-10-30


    Size :

    10 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




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