Pose estimation of robotic end-effectors under low speed motion using EKF with inertial and SE(3) measurements.
Xiaohan ChenGim Song SohShaohui FoongKevin OttoPublished in: AIM (2015)
Keyphrases
- pose estimation
- position and orientation
- inertial sensors
- rotation and translation
- kalman filter
- human body
- feature points
- pose parameters
- computer vision
- motion parameters
- image sequences
- body parts
- degrees of freedom
- geometric algebra
- d objects
- object pose
- human motion
- motion estimation
- upper body
- articulated model
- inverse kinematics
- motion model
- motion analysis
- motion tracking
- optical flow
- motion capture
- multiple cameras
- camera pose estimation
- human pose
- camera motion
- human pose estimation
- hand pose
- markerless
- joint angles
- robotic arm
- extended kalman filter
- depth images
- particle filter
- object tracking
- moving objects
- rigid objects
- static images
- camera pose
- visual odometry
- kalman filtering
- motion planning
- pose estimates
- motion field