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A Robot Pose Estimation Approach Based on Object Tracking in Monitoring Scenes | |
Yuan, Wenbo![]() ![]() ![]() ![]() | |
发表期刊 | International Journal of Robotics and Automation
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2017 | |
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 |
DOI | 10.2316/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 | 复杂系统认知与决策实验室_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 |
第一作者单位 | 中国科学院自动化研究所 |
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 and 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 and 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 and Automation 32.3(2017):256-265. |
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