A ROBOT POSE ESTIMATION APPROACH BASED ON OBJECT TRACKING IN MONITORING SCENES
Yuan, Wenbo; Cao, Zhiqiang; Zhang, Yujia; Tan, Min
2017
发表期刊INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION
卷号32期号:3页码:256-265
文章类型Article
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.
关键词Object Tracking Improved Particle Filter Multi-mode Ransac Algorithm Pose Estimation Trajectory Fitting
WOS标题词Science & Technology ; Technology
DOI10.2316/Journal.206.2017.3.206-4812
关键词[WOS]KALMAN-FILTER ; PARTICLE FILTERS ; LOCALIZATION
收录类别SCI
语种英语
项目资助者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)
WOS研究方向Automation & Control Systems ; Robotics
WOS类目Automation & Control Systems ; Robotics
WOS记录号WOS:000401972800006
引用统计
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/15108
专题复杂系统管理与控制国家重点实验室_先进机器人
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.
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