Global alignment of sensor positions with noisy motion measurements

Hossein Madjidi, Shahriar Negahdaripour

Research output: Contribution to journalConference article

4 Scopus citations

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 languageEnglish (US)
Pages (from-to)5123-5128
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume2004
Issue number5
StatePublished - Jul 5 2004
EventProceedings- 2004 IEEE International Conference on Robotics and Automation - New Orleans, LA, United States
Duration: Apr 26 2004May 1 2004

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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