Title :
Use of cooperative robots in motion estimation with scale factor
Author :
Demir, Guleser Kalayci ; Voyles, Richard
Author_Institution :
Elektrik-Elektron. Muhendisligi Bolumu, Dokuz Eylul Univ., Izmir, Turkey
Abstract :
We have investigated the performance of estimating the 3D motion and structure when the scale information is obtained by utilizing the cooperative efforts of multiple robots. The method determines the relative positions of robots by tracking a specific geometric target present on each of them, and then uses the extended Kalman filter to estimate the motion and structure. We have performed several experiments to explore the effects of cooperative running of robots on motion estimation.
Keywords :
Kalman filters; mobile robots; motion estimation; optical tracking; target tracking; tracking filters; 3D motion estimation; 3D structure estimation; cooperative robots; cooperative running; extended Kalman filter; geometric target tracking; relative position determination; scale factor; Automatic testing; Helium; Kalman filters; Motion estimation; Robots;
Conference_Titel :
Signal Processing and Communications Applications Conference, 2004. Proceedings of the IEEE 12th
Print_ISBN :
0-7803-8318-4
DOI :
10.1109/SIU.2004.1338566
