DocumentCode
3622748
Title
Pose estimation of moving objects from video sequences based on the unscented transformation
Author
I. Jovandic;Z. Durovic;B. Kovacevic
Author_Institution
Systems Control Department, Faculty of Electrical Engineering, University of Belgrade, Belgrade 11020, King Alexander Boulevard 73, Serbia and Montenegro. ijovandic@etf.bg.ac.yu
Volume
2
fYear
2006
fDate
6/28/1905 12:00:00 AM
Firstpage
9277
Lastpage
9281
Abstract
A method for moving objects tracking from video sequences is presented in this paper. The coordinate transform from image frame into the world frame is a nonlinear one. The technique of unscented transformation is used for measurement noise statistics approximation based on estimated statistics of measurement noise in the image frame. The proposed method is illustrated through a differential drive mobile robot tracking example
Keywords
"Video sequences","Mobile robots","Robot kinematics","Statistics","Kalman filters","Filtering","Orbital robotics","Wheels","Noise measurement","State-space methods"
Publisher
ieee
Conference_Titel
Intelligent Control and Automation, 2006. WCICA 2006. The Sixth World Congress on
Print_ISBN
1-4244-0332-4
Type
conf
DOI
10.1109/WCICA.2006.1713796
Filename
1713796
Link To Document