CASIA OpenIR  > 复杂系统管理与控制国家重点实验室  > 先进机器人
A ROBOT POSE ESTIMATION APPROACH BASED ON OBJECT TRACKING IN MONITORING SCENES
Yuan, Wenbo; Cao, Zhiqiang; Zhang, Yujia; Tan, Min
Source PublicationINTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION
2017
Volume32Issue:3Pages:256-265
SubtypeArticle
AbstractIn 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.
KeywordObject Tracking Improved Particle Filter Multi-mode Ransac Algorithm Pose Estimation Trajectory Fitting
WOS HeadingsScience & Technology ; Technology
DOI10.2316/Journal.206.2017.3.206-4812
WOS KeywordKALMAN-FILTER ; PARTICLE FILTERS ; LOCALIZATION
Indexed BySCI
Language英语
Funding OrganizationNational 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 Research AreaAutomation & Control Systems ; Robotics
WOS SubjectAutomation & Control Systems ; Robotics
WOS IDWOS:000401972800006
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Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/15108
Collection复杂系统管理与控制国家重点实验室_先进机器人
AffiliationChinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
First Author AffilicationChinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
Recommended Citation
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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