| Paper: | WP-L5.3 |
| Session: | Motion Detection and Estimation III |
| Time: | Wednesday, September 19, 15:10 - 15:30 |
| Presentation: |
Lecture
|
| Title: |
EKF BASED POSE ESTIMATION USING TWO BACK-TO-BACK STEREO PAIRS |
| Authors: |
Mohammad Ehab Ragab; The Chinese University of Hong Kong | | |
| | Kin Hong Wong; The Chinese University of Hong Kong | | |
| | Jun Zhou Chen; The Chinese University of Hong Kong | | |
| | Michael Ming-Yuen Chang; The Chinese University of Hong Kong | | |
| Abstract: |
In this work, we solve the pose estimation problem for robot motion by placing multiple cameras on the robot. In particular, we use four cameras arranged as two back-to-back stereo pairs combined with the Extended Kalman Filter (EKF). The reason for using multiple cameras is that the pose estimation problem is more constrained for multiple cameras than for a single camera. Back-to-back cameras are used since they provide more information. Stereo information is used in self initialization and outlier rejection. Different approaches to solve the long-sequence-drift have been suggested. Both the simulations and the real experiments show that our approach is fast, robust, and accurate. |
