Title

A Two-Level Particle Filter Approach To Range Estimation Using An Eye-In-Hand Configured Single Camera

Keywords

Particle filter; Range estimation

Abstract

For monocular visual systems, range (or depth) information is always crucial for target modeling and system control design. In this paper, a novel and effective method is developed to estimate the range information in perspective vision systems by observing the 2-D image information and known motion parameters. We have considered the presence of noise in the image space measurements and kinematic uncertainty in the motion parameters. Simulation and experiment results show the advantage of our algorithm in comparison with other approaches.

Publication Date

12-1-2009

Publication Title

Proceedings of the IASTED International Conference on Robotics and Applications

Number of Pages

302-309

Document Type

Article; Proceedings Paper

Personal Identifier

scopus

Socpus ID

77954208496 (Scopus)

Source API URL

https://api.elsevier.com/content/abstract/scopus_id/77954208496

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