Increasing Pose Estimation Performance using Multi-cue Integration
2006 (English)In: IEEE International Conference on Robotic and Automation (ICRA), IEEE , 2006, 3760-3767 p.Conference paper (Refereed)
We have developed a system which integrates the information output from several pose estimation algorithms and from several views of the scene. It is tested in a real setup with a robotic manipulator. It is shown that integrating pose estimates from several algorithms increases the overall performance of the pose estimation accuracy as well as the robustness as compared to using only a single algorithm. It is shown that increased robustness can be achieved by using pose estimation algorithms based on complementary features, so called algorithmic multi-cue integration (AMC). Furthermore it is also shown that increased accuracy can be achieved by integrating pose estimation results from different views of the scene, so-called temporal multi-cue integration (TMC). Temporal multi-cue integration is the most interesting aspect of this paper.
Place, publisher, year, edition, pages
IEEE , 2006. 3760-3767 p.
, Robotics and Automation, ISSN 1050-4729
Computer Vision and Robotics (Autonomous Systems)
IdentifiersURN: urn:nbn:se:liu:diva-37180DOI: 10.1109/ROBOT.2006.1642277Local ID: 33871ISBN: 0-7803-9505-0OAI: oai:DiVA.org:liu-37180DiVA: diva2:258029
IEEE International Conference on Robotic and Automation (ICRA), May 15-19, Orlando, Florida, USA