Structure From Motion Using The Extended Kalman Filter

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Structure From Motion Using The Extended Kalman Filter

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Author : Javier Civera
language : en
Publisher: Springer Science & Business Media
Release Date : 2011-11-05

Structure From Motion Using The Extended Kalman Filter written by Javier Civera and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2011-11-05 with Technology & Engineering categories.

The fully automated estimation of the 6 degrees of freedom camera motion and the imaged 3D scenario using as the only input the pictures taken by the camera has been a long term aim in the computer vision community. The associated line of research has been known as Structure from Motion (SfM). An intense research effort during the latest decades has produced spectacular advances; the topic has reached a consistent state of maturity and most of its aspects are well known nowadays. 3D vision has immediate applications in many and diverse fields like robotics, videogames and augmented reality; and technological transfer is starting to be a reality. This book describes one of the first systems for sparse point-based 3D reconstruction and egomotion estimation from an image sequence; able to run in real-time at video frame rate and assuming quite weak prior knowledge about camera calibration, motion or scene. Its chapters unify the current perspectives of the robotics and computer vision communities on the 3D vision topic: As usual in robotics sensing, the explicit estimation and propagation of the uncertainty hold a central role in the sequential video processing and is shown to boost the efficiency and performance of the 3D estimation. On the other hand, some of the most relevant topics discussed in SfM by the computer vision scientists are addressed under this probabilistic filtering scheme; namely projective models, spurious rejection, model selection and self-calibration.

Structure From Motion Estimation Using A Nonlinear Kalman Filter

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Author : Christian Johannes Venter
language : en
Publisher:
Release Date : 2002

Structure From Motion Estimation Using A Nonlinear Kalman Filter written by Christian Johannes Venter and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2002 with Computer vision categories.

Pose And Motion Estimation Using Dual Quaternion Based Extended Kalman Filtering

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Author :
language : en
Publisher:
Release Date : 1998

Pose And Motion Estimation Using Dual Quaternion Based Extended Kalman Filtering written by and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 1998 with categories.

A solution to the remote three-dimensional (3-D) measurement problem is presented for a dynamic system given a sequence of two-dimensional (2-D) intensity images of a moving object. The 3-D transformation is modeled as a nonlinear stochastic system with the state estimate providing the six-degree-of-freedom motion and position values as well as structure. The stochastic model uses the iterated extended Kalman filter (IEKF) as a nonlinear estimator and a screw representation of the 3-D transformation based on dual quaternions. Dual quaternions, whose elements are dual numbers, provide a means to represent both rotation and translation in a unified notation. Linear object features, represented as dual vectors, are transformed using the dual quaternion transformation and are then projected to linear features in the image plane. The method has been implemented and tested with both simulated and actual experimental data. Simulation results are provided, along with comparisons to a point-based IEKF method using rotation and translation, to show the relative advantages of this method. Experimental results from testing using a camera mounted on the end effector of a robot arm are also given.

Robot Operating System Ros

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Author : Anis Koubaa
language : en
Publisher: Springer Nature
Release Date : 2020-08-21

Robot Operating System Ros written by Anis Koubaa and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2020-08-21 with Technology & Engineering categories.

This book is the fifth volume in the successful book series Robot Operating System: The Complete Reference. The objective of the book is to provide the reader with comprehensive coverage on the Robot Operating System (ROS), which is currently considered to be the primary development framework for robotics applications, and the latest trends and contributing systems. The content is divided into six parts. Pat I presents for the first time the emerging ROS 2.0 framework, while Part II focuses on multi-robot systems, namely on SLAM and Swarm coordination. Part III provides two chapters on autonomous systems, namely self-driving cars and unmanned aerial systems. In turn, Part IV addresses the contributions of simulation frameworks for ROS. In Part V, two chapters explore robotic manipulators and legged robots. Finally, Part VI presents emerging topics in monocular SLAM and a chapter on fault tolerance systems for ROS. Given its scope, the book will offer a valuable companion for ROS users and developers, helping them deepen their knowledge of ROS capabilities and features.

Dynamical Vision

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Author : Rene Vidal
language : en
Publisher: Springer Science & Business Media
Release Date : 2007-02

Dynamical Vision written by Rene Vidal and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2007-02 with Computers categories.

This book constitutes the thoroughly refereed joint post-proceedings of the first two International Workshops on Dynamical Vision, WDV 2005 and WDV 2006 held in Beijing, China in October 2005 within the scope of ICCV 2005 and in Graz, Austria in May 2006 in the course of ECCV 2006. The 24 revised full papers address a wide range of theoretical and application issues in dynamical vision.

Nonlinear Control Systems Design 1995

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Author : A.J. Krener
language : en
Publisher: Elsevier
Release Date : 2016-01-22

Nonlinear Control Systems Design 1995 written by A.J. Krener and has been published by Elsevier this book supported file pdf, txt, epub, kindle and other format this book has been release on 2016-01-22 with Technology & Engineering categories.

The series of IFAC Symposia on Nonlinear Control Systems provides the ideal forum for leading researchers and practitioners who work in the field to discuss and evaluate the latest research and developments. This publication contains the papers presented at the 3rd IFAC Symposium in the series which was held in Tahoe City, California, USA.

Small Satellites For Earth Observation

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Author : Hans-Peter Röser
language : en
Publisher: Walter de Gruyter
Release Date : 2011-12-22

Small Satellites For Earth Observation written by Hans-Peter Röser and has been published by Walter de Gruyter this book supported file pdf, txt, epub, kindle and other format this book has been release on 2011-12-22 with Science categories.

The biennial IAA Symposium on Small Satellites for Earth Observation provides a forum for scientists, engineers and managers to exchange information about planned and on-going programs and missions, and present new ideas, covering small satellite mission objectives as well as technology and management aspects for dedicated earth observation satellites. This volume presents selected contributions of the 5th IAA Symposium on Small Satellites for Earth Observation, April 4 - 8, 2005, organized by the International Academy of Astronautics (IAA), Paris, France, and hosted by the German Aerospace Center (DLR), Berlin, Germany.

Visual Servoing Via Advanced Numerical Methods

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Author : Graziano Chesi
language : en
Publisher: Springer
Release Date : 2010-03-10

Visual Servoing Via Advanced Numerical Methods written by Graziano Chesi and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2010-03-10 with Technology & Engineering categories.

Robots able to imitate human beings have been at the core of stories of science?ctionaswellasdreamsofinventorsforalongtime.Amongthe various skills that Mother Nature has provided us with and that often go forgotten, the ability of sight is certainly one of the most important. Perhaps inspired by tales of Isaac Asimov, comics and cartoons, and surely helped by the progress of electronics in recent decades, researchers have progressively made the dream of creating robots able to move and operate by exploiting arti?cial vision a concrete reality. Technically speaking, we would say that these robots position themselves and their end-e?ectors by using the view provided by some arti?cial eyes as feedback information. Indeed, the arti?cial eyes are visual sensors such as cameras that have the function to acquire an image of the environment. Such an image describes if and how the robot is moving toward the goal and hence constitutes feedback information. This procedure is known in robotics with the term visual servoing, and it is nothing else than an imitation of the intrinsic mechanism that allows human beings to realize daily tasks such as reaching the door of the house or grasping a cup of co?ee.

An Extended Kalman Filter For Quaternion Based Attitude Estimation

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Author : Joao L. Marins
language : en
Publisher:
Release Date : 2000-09-01

An Extended Kalman Filter For Quaternion Based Attitude Estimation written by Joao L. Marins and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2000-09-01 with categories.

This thesis develops an extended Kalman filter for real-time estimation of rigid body motion altitude. The filter represents rotations using quaternions rather than Euler angles, which eliminates the long-standing problem of singularities associated with those angles. A process model for rigid body angular motions and angular rate measurements is defined. The process model converts angular rates into quaternion rates, which are in turn integrated to obtain quaternions. The outputs of the model are values of three-dimensional angular rates, three-dimensional linear accelerations, and three-dimensional magnetic field vector. Gauss-Newton iteration is utilized to find the best quaternion that relates the measured linear accelerations and earth magnetic field in the body coordinate frame to calculated values in the earth coordinate frame. The quaternion obtained from the optimization algorithm is used as part of the observations for the Kalman filter. As a result, the measurement equations become linear. A new approach to attitude estimation is introduced in this thesis. The computational requirements related to the extended Kalman filter developed using this approach are significantly reduced, making it possible to estimate attitude in real-time. Extensive static and dynamic simulation of the filter using Matlab proved it to be robust. Test cases included the presence of large initial errors as well as high noise levels. In all cases the filter was able to converge and accurately track attitude.

State Of The Art Sensors Technology In Spain 2017 Volume 1

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Author : Gonzalo Pajares Martinsanz
language : en
Publisher: MDPI
Release Date : 2018-05-22

State Of The Art Sensors Technology In Spain 2017 Volume 1 written by Gonzalo Pajares Martinsanz and has been published by MDPI this book supported file pdf, txt, epub, kindle and other format this book has been release on 2018-05-22 with Electronic books categories.

This book is a printed edition of the Special Issue "State-of-the-Art Sensors Technology in Spain 2017" that was published in Sensors