Observatorio de I+D+i UPM

Memorias de investigación
Research Publications in journals:
A Novel Approach to Object Pose Estimation By Fusing Vision And Inertial Data
Year:2017
Research Areas
  • Information technology and adata processing
Information
Abstract
Six-degree-of-freedom (6-DoF) pose estimation is of fundamental importance to many applications, such as robotics, indoor tracking and Augmented Reality. Although a number of pose estimation solutions have been proposed, it remains a critical challenge to provide a low-cost, real-time, accurate and easy-to- deploy solution. Addressing this issue, this paper describes a multisensor system for accurate pose esti- mation that relies on low-cost technologies, in particular on a combination of webcams, inertial sensors and a printable colored fiducial. With the aid of inertial sensors, the system can estimate full pose both with monocular and stereo vision. The system error propagation is analyzed and validated by simulations and experimental tests. Our error analysis and experimental data demonstrate that the proposed system has great potential in practical applications, as it achieves high accuracy (in the order of centimeters for the position estimation and few degrees for the orientation estimation) using the mentioned low-cost sensors, while satisfying tight real-time requirements.
International
Si
JCR
Si
Title
Information Fusion
ISBN
1566-2535
Impact factor JCR
3,472
Impact info
Datos JCR del año 2013
Volume
33
10.1016/j.inffus.2016.04.006
Journal number
From page
15
To page
28
Month
ENERO
Ranking
Participants
  • Autor: Juan Li . (UPM)
  • Autor: Juan Alberto Besada Portas (UPM)
  • Autor: Ana Maria Bernardos Barbolla (UPM)
  • Autor: Paula Tarrío
  • Autor: Jose Ramon Casar Corredera (UPM)
Research Group, Departaments and Institutes related
  • Creador: Grupo de Investigación: Grupo de Procesado de Datos y Simulación (GPDS)-CEDITEC
  • Centro o Instituto I+D+i: Centro de I+d+i en Procesado de la Información y Telecomunicaciones
  • Departamento: Señales, Sistemas y Radiocomunicaciones
S2i 2020 Observatorio de investigación @ UPM con la colaboración del Consejo Social UPM
Cofinanciación del MINECO en el marco del Programa INNCIDE 2011 (OTR-2011-0236)
Cofinanciación del MINECO en el marco del Programa INNPACTO (IPT-020000-2010-22)