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Efficient Camera-Based Pose Estimation for Real-Time Applications

Mair, Elmar and Strobl, Klaus and Suppa, Michael and Burschka, Darius (2009) Efficient Camera-Based Pose Estimation for Real-Time Applications. In: Proceedings. IROS, International Conference on Intelligent Robots and Systems, 11. Okt. -15. Okt. 2009, St. Louis, USA.

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Abstract

Accurate online localization is crucial for mobile robotics. In this paper, we describe a real-time image-based localization technique, which is based on a single calibrated camera. This can be supported by a second camera to improve accuracy and to provide the correct translational scale. Our goal is a robust and unbiased pose estimation in highly dynamic scenes on resource-limited systems. The presented approach is characterized through significantly improved robustness of the pose estimation, a novel approach for stereo subpixel accurate landmark initialization, and the speed-up of conventional tracking routines to achieve online capability. Although the algorithm is designed for accurate, online short-range egomotion estimation in hand-held scanning devices, it can be used for any mobile robot application as shown in this paper. Various tests and experimental results with a mobile platform and a hand-held 3D modeler are presented and discussed.

Document Type:Conference or Workshop Item (Speech, Paper)
Title:Efficient Camera-Based Pose Estimation for Real-Time Applications
Authors:
AuthorsInstitution or Email of Authors
Mair, ElmarElmar.Mair@cs.tum.edu
Strobl, KlausKlaus.Strobl@dlr.de
Suppa, MichaelMichael.Suppa@dlr.de
Burschka, DariusDarius.Burschka@dlr.de
Date:11 October 2009
Journal or Publication Title:Proceedings
Refereed publication:Yes
In ISI Web of Science:No
Status:Published
Keywords:Real-Time Applications
Event Title:IROS, International Conference on Intelligent Robots and Systems
Event Location:St. Louis, USA
Event Type:international Conference
Event Dates:11. Okt. -15. Okt. 2009
Organizer:IEEE
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Space (old)
HGF - Program Themes:W SY - Technik für Raumfahrtsysteme
DLR - Research area:Space
DLR - Program:W SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):W - Weiterentwicklung Robotik - Mechatronik und Dynamik (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics > Robotic Systems
Deposited By: Gabriele Beinhofer
Deposited On:14 Jan 2010 17:15
Last Modified:12 Dec 2013 20:52

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