Memorias de investigación
Communications at congresses:
A combined vision-inertial fusion approach for 6-DoF object pose estimation
Year:2015

Research Areas
  • Electronic technology and of the communications

Information
Abstract
The estimation of the 3D position and orientation of moving objects (?pose? estimation) is a critical process for many applications in robotics, computer vision or mobile services. Although major research efforts have been carried out to design accurate, fast and robust indoor pose estimation systems, it remains as an open challenge to provide a low-cost, easy to deploy and reliable solution. Addressing this issue, this paper describes a hybrid approach for 6 degrees of freedom (6-DoF) pose estimation that fuses acceleration data and stereo vision to overcome the respective weaknesses of single technology approaches. The system relies on COTS technologies (standard webcams, accelerometers) and printable colored markers. It uses a set of infrastructure cameras, located to have the object to be tracked visible most of the operation time; the target object has to include an embedded accelerometer and be tagged with a fiducial marker. This simple marker has been designed for easy detection and segmentation and it may be adapted to different service scenarios (in shape and colors). Experimental results show that the proposed system provides high accuracy, while satisfactorily dealing with the real-time constraints.
International
Si
Congress
Seventh International Conference on Machine Vision
960
Place
Reviewers
Si
ISBN/ISSN
9781628415605
Start Date
27/02/2015
End Date
27/02/2105
From page
1
To page
12
Proc. SPIE 9445
Participants

Research Group, Departaments and Institutes related
  • Creador: Grupo de Investigación: Grupo de Procesado de Datos y Simulación (GPDS)-CEDITEC
  • Departamento: Señales, Sistemas y Radiocomunicaciones