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A ROBOT POSE ESTIMATION APPROACH BASED ON OBJECT TRACKING IN MONITORING SCENES

文献类型：期刊论文

作者Yuan, Wenbo; Cao, Zhiqiang; Zhang, Yujia; Tan, Min
刊名INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION
出版日期2017
卷号32期号:3页码:256-265
关键词Object Tracking Improved Particle Filter Multi-mode Ransac Algorithm Pose Estimation Trajectory Fitting
DOI10.2316/Journal.206.2017.3.206-4812
文献子类Article
英文摘要In this paper, a robot pose estimation method based on object tracking is proposed. Robot detection is firstly implemented based on the histogram of gradient (HOG) descriptor with a dynamic scale to improve the real-time performance to some extent. An improved particle filter with temporal and spatial dynamic function and optimized appearance function is then employed to ensure the continuity of object tracking precision. Using the multi-mode RANSAC algorithm, the historical trajectory is divided into some sub-trajectories, each of which is corresponding to a motion mode. On this basis, an attitude estimation model is designed, and the attitude angle of robot in monitoring scenes is solved by trajectory fitting. High-precision tracking and attitude estimation are obtained in the experiments, and the results show that the proposed method is robust to noise and outliers.
WOS关键词KALMAN-FILTER ; PARTICLE FILTERS ; LOCALIZATION
WOS研究方向Automation & Control Systems ; Robotics
语种英语
WOS记录号WOS:000401972800006
资助机构National Natural Science Foundation of China(61421004 ; Beijing Natural Science Foundation(4161002) ; National High Technology Research and Development Program of China (863 Program)(2015AA042201) ; Open Foundation of the State Key Laboratory of Management and Control for Complex Systems, CASIA(20140107 ; 61233014) ; 20130101)
源URL[http://ir.ia.ac.cn/handle/173211/15108]  
专题自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队
作者单位Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
推荐引用方式
GB/T 7714		 Yuan, Wenbo,Cao, Zhiqiang,Zhang, Yujia,et al. A ROBOT POSE ESTIMATION APPROACH BASED ON OBJECT TRACKING IN MONITORING SCENES[J]. INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION,2017,32(3):256-265.
APA Yuan, Wenbo,Cao, Zhiqiang,Zhang, Yujia,&Tan, Min.(2017).A ROBOT POSE ESTIMATION APPROACH BASED ON OBJECT TRACKING IN MONITORING SCENES.INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION,32(3),256-265.
MLA Yuan, Wenbo,et al."A ROBOT POSE ESTIMATION APPROACH BASED ON OBJECT TRACKING IN MONITORING SCENES".INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION 32.3(2017):256-265.

入库方式： OAI收割

来源：自动化研究所

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