Abstract
We investigate the global alignment of some 3-D spatial points, knowing the motion between pairwise nearby positions. A common application is to determine the trajectory of a mobile vision-based system from the scene images acquired along its track. Exploiting redundant measurements and the rigid body transformation P j = R (i,j) + t (i,j) as the observation model, we apply the mixed-model least squares estimation paradigm to develop recursive estimation algorithms under various scenarios. Results of experiments are given to demonstrate the performance for different noise levels in the observations and the improvements in the position estimation.
| Original language | English (US) |
|---|---|
| Pages (from-to) | 5123-5128 |
| Number of pages | 6 |
| Journal | Proceedings - IEEE International Conference on Robotics and Automation |
| Volume | 2004 |
| Issue number | 5 |
| State | Published - Jul 5 2004 |
| Event | Proceedings- 2004 IEEE International Conference on Robotics and Automation - New Orleans, LA, United States Duration: Apr 26 2004 → May 1 2004 |
ASJC Scopus subject areas
- Software
- Control and Systems Engineering
- Artificial Intelligence
- Electrical and Electronic Engineering
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Madjidi, H., & Negahdaripour, S. (2004). Global alignment of sensor positions with noisy motion measurements. Proceedings - IEEE International Conference on Robotics and Automation, 2004(5), 5123-5128.