Three-dimensional pose estimation of neighbor mobile robots in formation system based on the vision system

被引：0
作者：
Kwon, Ji-Wook
Park, Mun-Soo
Chwa, Dongkyoung
Hong, Suk-Kyo
机构：
来源：
Journal of Institute of Control, Robotics and Systems | 2009年 / 15卷 / 12期
关键词：
Camera calibration; Formation of mobile robot; Mobile robot localization; Pose estimation; Vision based control;
D O I：
10.5302/J.ICROS.2009.15.12.1223
中图分类号：
学科分类号：
摘要：
We derive a systematic and iterative calibration algorithm, and position and pose estimation algorithm for the mobile robots in formation system based on the vision system. In addition, we develop a coordinate matching algorithm which calculates matched sequence of order in both extracted image coordinates and object coordinates for non interactive calibration and pose estimation. Based on the results of calibration, we also develop a camera simulator to confirm the results of calibration and compare the results of simulations with those of experiments in position and pose estimation.
引用
收藏
页码：1223 / 1231
页数：8
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