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.
Item URL in elib: | https://elib.dlr.de/62661/ | |||||||||||||||
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Document Type: | Conference or Workshop Item (Speech, Paper) | |||||||||||||||
Title: | Efficient Camera-Based Pose Estimation for Real-Time Applications | |||||||||||||||
Authors: |
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Date: | 11 October 2009 | |||||||||||||||
Journal or Publication Title: | Proceedings | |||||||||||||||
Refereed publication: | Yes | |||||||||||||||
Open Access: | Yes | |||||||||||||||
Gold Open Access: | No | |||||||||||||||
In SCOPUS: | No | |||||||||||||||
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 (until 2012) > Robotic Systems | |||||||||||||||
Deposited By: | Beinhofer, Gabriele | |||||||||||||||
Deposited On: | 14 Jan 2010 17:15 | |||||||||||||||
Last Modified: | 31 Jul 2019 19:27 |
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