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) |
|---|---|
| Title of host publication | Proceedings - IEEE International Conference on Robotics and Automation |
| Pages | 5123-5128 |
| Number of pages | 6 |
| Volume | 2004 |
| Edition | 5 |
| State | Published - 2004 |
| Event | Proceedings- 2004 IEEE International Conference on Robotics and Automation - New Orleans, LA, United States Duration: Apr 26 2004 → May 1 2004 |
Other
| Other | Proceedings- 2004 IEEE International Conference on Robotics and Automation |
|---|---|
| Country | United States |
| City | New Orleans, LA |
| Period | 4/26/04 → 5/1/04 |
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ASJC Scopus subject areas
- Software
- Control and Systems Engineering
Cite this
Madjidi, H., & Negahdaripour, S. (2004). Global alignment of sensor positions with noisy motion measurements. In Proceedings - IEEE International Conference on Robotics and Automation (5 ed., Vol. 2004, pp. 5123-5128)