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Semi-Analytic Stochastic Linearization for Range-Based Pose Tracking

Beutler, Frederik; Huber, Marco F.; Hanebeck, Uwe D.

In range-based pose tracking, the translation and rotation of an object with respect to a global coordinate system has to be estimated. The ranges are measured between the target and the global frame. In this paper, an intelligent decomposition is introduced in order to reduce the computational effort for pose tracking. Usually, decomposition procedures only exploit conditionally linear models. In this paper, this principle is generalized to conditionally integrable substructures and applied to pose tracking. Due to a modified measurement equation, parts of the problem can even be solved analytically.

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Volltext §
DOI: 10.5445/IR/1000035043
DOI: 10.1109/MFI.2010.5604468
Zugehörige Institution(en) am KIT Institut für Anthropomatik (IFA)
Publikationstyp Proceedingsbeitrag
Jahr 2010
Sprache Englisch
Identifikator ISBN: 978-1-4244-5424-2
KITopen-ID: 1000035043
Erschienen in Proceedings of the 2010 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2010), Salt Lake City, Utah, USA, Sept. 5-7, 2010
Verlag IEEE, Piscataway
Seiten 44-49
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