Observatorio de I+D+i UPM

Descripción
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.
Internacional	Si
JCR del ISI	Si
Título de la revista	Information Fusion
ISSN	1566-2535
Factor de impacto JCR	3,472
Información de impacto	Datos JCR del año 2013
Volumen	33
DOI	10.1016/j.inffus.2016.04.006
Número de revista
Desde la página	15
Hasta la página	28
Mes	ENERO
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Esta actividad pertenece a memorias de investigación

• 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)

• 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