Surface and Motion Estimation from Sparse Range Data

Vemuri, Baba C.; Skofteland, Gunleiv

doi:10.1109/CVPR.1991.139813

Surface and Motion Estimation from Sparse Range Data

Baba C. Vemuri, Gunleiv Skofteland

CVPR 1991 pp. 751-752

doi:10.1109/CVPR.1991.139813 /cvpr/1991/vemuri1991cvpr-surface/

Abstract

A system is presented for the simultaneous estimation of surface and motion parameters of a free-flying object in a telerobotics experiment. The system consists of two main components, a vision-based invariant-surface and motion estimator, and a Kalman filter. An algorithm for invariant surface and motion estimation from sparse multi-sensor range data is presented. Motion estimates from the vision module are input to a Kalman filter (KF) for tracking a 'free-flying' object in space. The predicted motion parameters from the KF are fed back to the vision module and serve as an initial guess in the search for optimal motion.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">></ETX>

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Cite

Text

Vemuri and Skofteland. "Surface and Motion Estimation from Sparse Range Data." IEEE/CVF Conference on Computer Vision and Pattern Recognition, 1991. doi:10.1109/CVPR.1991.139813

Markdown

[Vemuri and Skofteland. "Surface and Motion Estimation from Sparse Range Data." IEEE/CVF Conference on Computer Vision and Pattern Recognition, 1991.](https://mlanthology.org/cvpr/1991/vemuri1991cvpr-surface/) doi:10.1109/CVPR.1991.139813

BibTeX

@inproceedings{vemuri1991cvpr-surface,
  title     = {{Surface and Motion Estimation from Sparse Range Data}},
  author    = {Vemuri, Baba C. and Skofteland, Gunleiv},
  booktitle = {IEEE/CVF Conference on Computer Vision and Pattern Recognition},
  year      = {1991},
  pages     = {751-752},
  doi       = {10.1109/CVPR.1991.139813},
  url       = {https://mlanthology.org/cvpr/1991/vemuri1991cvpr-surface/}
}