Optimal mobile robot pose estimation using geometrical maps

被引：17
|
作者：
Borges, GA [1 ]
Aldon, MJ [1 ]
机构：
[1] Lab Informat Robot & Microelect Montpellier, UMR CNRS UM2, Robot Dept, F-55060 Montpellier, France
来源：
IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION | 2002年 / 18卷 / 01期
关键词：
heterogeneous features; nonlinear optimization; optimal 2-D pose estimation; weighted least-squares;
D O I：
10.1109/70.988978
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
We propose a weighted least-squares (WLS) algorithm for optimal pose estimation of mobile robots using geometrical maps as environment models. Pose estimation is achieved from feature correspondences in a nonlinear framework without linearization. The proposed WLS approach fields optimal estimates in the least-squares sense, is applicable to heterogencous geometrical features decomposed in points and lines, and has an O(N) computation time.
引用
收藏
页码：87 / 94
页数：8
相关论文
共 50 条
  • [21] Optimal Multi-robot Formations for Relative Pose Estimation Using Range Measurements
    Cossette, Charles Champagne
    Shalaby, Mohammed Ayman
    Saussie, David
    Ny, Jerome Le
    Forbes, James Richard
    2022 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), 2022, : 2431 - 2437
  • [22] GSR: geometrical scan registration algorithm for robust and fast robot pose estimation
    Shamsfakhr, Farhad
    Sadeghi Bigham, Bahram
    ASSEMBLY AUTOMATION, 2020, 40 (06) : 801 - 817
  • [23] A Study on Optimal Placement of Accelerometers for Pose Estimation of a Robot Arm
    Wijayasinghe, Indika B.
    Saadatzi, Mohammad Nasser
    Abubakar, Shamsudeen
    Popa, Dan O.
    2018 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 2018, : 1444 - 1451
  • [24] Laser pose estimation and tracking using fuzzy extended information filtering for an autonomous mobile robot
    Lin, Hung-Hsing
    Tsai, Ching-Chih
    JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS, 2008, 53 (02) : 119 - 143
  • [25] Mobile Robot Localization and Object Pose Estimation Using Optical Encoder, Vision and Laser Sensors
    Lang, Haoxiang
    Wang, Ying
    de Silva, Clarence W.
    2008 IEEE INTERNATIONAL CONFERENCE ON AUTOMATION AND LOGISTICS, VOLS 1-6, 2008, : 617 - 622
  • [26] Laser Pose Estimation and Tracking Using Fuzzy Extended Information Filtering for an Autonomous Mobile Robot
    Hung-Hsing Lin
    Ching-Chih Tsai
    Journal of Intelligent and Robotic Systems, 2008, 53 : 119 - 143
  • [27] Mobile robot guidance using adaptive event-based pose estimation and camera sensor
    Martinez-Rey, Miguel
    Espinosa, Felipe
    Gardel, Alfredo
    Santos, Carlos
    Santiso, Enrique
    2016 2ND INTERNATIONAL CONFERENCE ON EVENT-BASED CONTROL, COMMUNICATION, AND SIGNAL PROCESSING (EBCCSP), 2016,
  • [28] Real time face pose estimation using geometrical features
    Goodarzi, Farhad
    Saripan, M. Iqbal
    2015 IEEE INTERNATIONAL CONFERENCE ON SIGNAL AND IMAGE PROCESSING APPLICATIONS (ICSIPA), 2015, : 482 - 487
  • [29] Research on Pose Estimation of Mobile Robot Based on Convolutional Neural Network
    Yue, Min
    Fu, Guangyuan
    Wu, Ming
    2019 INTERNATIONAL CONFERENCE ON INTELLIGENT MANUFACTURING AND INTELLIGENT MATERIALS (2IM 2019), 2019, 565
  • [30] Self-supervised pose estimation method for a mobile robot in greenhouse
    Zhou Y.
    Xu T.
    Deng H.
    Miao T.
    Wu Q.
    Nongye Gongcheng Xuebao/Transactions of the Chinese Society of Agricultural Engineering, 2021, 37 (09): : 263 - 274
12345