Computing motion parameters from sparse multisensor range data for telerobotics

Baba C. Vemuri; G. Skofteland

doi:10.1117/12.25248

1 April 1991 Computing motion parameters from sparse multisensor range data for telerobotics

Baba C. Vemuri, G. Skofteland

Proceedings Volume 1383, Sensor Fusion III: 3D Perception and Recognition; (1991) https://doi.org/10.1117/12.25248
Event: Advances in Intelligent Robotics Systems, 1990, Boston, MA, United States

Abstract

Computing object motion from time-varying multi-sensor data and fusing this data into a coherent map of the object and/or its environment are important problems in robotics. In this paper, we present a new algorithm for motion estimation from sparse range data acquired from multiple sensors namely, a stereo camera system and an array of laser range finders. The motion estimates from this algorithm are input to a Kalman filter based state estimator for continuosly tracking a free-flying object in space under zero-gravity conditions.

Citation Download Citation

Baba C. Vemuri and G. Skofteland "Computing motion parameters from sparse multisensor range data for telerobotics", Proc. SPIE 1383, Sensor Fusion III: 3D Perception and Recognition, (1 April 1991); https://doi.org/10.1117/12.25248

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