Kalman filter for 3D motion estimation via Lagrange interpolation and numerical integration
文献类型：会议论文
| 作者 | Hou FL(侯菲莉); Zhu F(朱枫)
|
| 出版日期 | 2004 |
| 会议名称 | IEEE International Conference on Robotics and Biomimetics (ROBIO 2004) |
| 会议日期 | August 22-26, 2004 |
| 会议地点 | Shenyang, China |
| 关键词 | 3D motion estimation Kalman filter Lagrange interpolation numerical integration |
| 页码 | 693-699 |
| 中文摘要 | This paper presents a Kalman filter approach for 3D motion estimation of an object that undergoes arbitrary rotational and translational motion. Problem considered here is error propagation from image features to 3D motion estimation. To this end, we have derived a new set of equations for motion estimation: (1) Lagrange interpolation and numerical integration are introduced to construct the dynamic equation, which is adaptable to the kinematics process of diverse 3D motion. (2) An adaptively estimated fading factor is imported to restrain the filter divergence caused by the truncation errors. (3) As for the measurement model, linear measurement equations relating the estimated pose parameters and the true ones are derived by exploring the relationship between the feature locations and the object pose (position anti orientation) parameters. The proposed approach is suitable for real-time environment in terms of the following aspects: the structure of the filter is simplified by avoiding the need of EKF, the computational cost is much reduced by running six filters on the six motion parameters in parallel; the process to extract the feature points became much simplified due to the predicted information provided by the filter; time efficiency is increased because the sequence of image frames is allowed to be at unequal intervals. Simulation results and implement of it system for multimobile robots formation show the capacity of this algorithm. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议主办者 | IEEE Robot & Automat Soc, IEEE HK RA CS Joint Chapter, Chinese Acad Sci, Shenyang Inst Automat, Chinese High tech Dev Program, Robot Soc Japan, Japan Soc Mech Engineers, Int Rescue Syst Inst, Shenyang Hunnan New Urban Area, Shenyang New & High tech Ind Dev Zone |
| 会议录 | IEEE ROBIO 2004: Proceedings of the IEEE International Conference on Robotics and Biomimetics
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | NEW YORK |
| 语种 | 英语 |
| ISBN号 | 0-7803-8641-8 |
| WOS记录号 | WOS:000234343000124 |
| 源URL | [http://ir.sia.cn/handle/173321/7990]  |
| 专题 | 沈阳自动化研究所_光电信息技术研究室 |
| 推荐引用方式 GB/T 7714 | Hou FL,Zhu F. Kalman filter for 3D motion estimation via Lagrange interpolation and numerical integration[C]. 见:IEEE International Conference on Robotics and Biomimetics (ROBIO 2004). Shenyang, China. August 22-26, 2004. |
入库方式： OAI收割
来源：沈阳自动化研究所
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