Increasing robustness in self-localization and pose estimation

Ross J. Micheals; Terrance E. Boult

doi:10.1117/12.369246

15 November 1999 Increasing robustness in self-localization and pose estimation

Ross J. Micheals, Terrance E. Boult

Proceedings Volume 3838, Mobile Robots XIV; (1999) https://doi.org/10.1117/12.369246
Event: Photonics East '99, 1999, Boston, MA, United States

Abstract

Ideally, an algorithm used for either self localization or pose estimation would be both efficient and robust. Many researchers have based their techniques on the absolute orientation research of B. K. P Horn. As will be shown in this paper, while Horn s method performs well with an additive Gaussian noise of large variance, mismatches and outliers have a more profound effect. In this paper, the authors develop a new closed-form solution to the absolute orientation problem, featuring techniques specifically designed for increasing the robustness during the critical rotation determination stage. We also include a comparative analysis of the various strengths and weaknesses of both Horn s and the new techniques.

Citation Download Citation

Ross J. Micheals and Terrance E. Boult "Increasing robustness in self-localization and pose estimation", Proc. SPIE 3838, Mobile Robots XIV, (15 November 1999); https://doi.org/10.1117/12.369246

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