1 April 1991 Computing motion parameters from sparse multisensor range data for telerobotics
Author Affiliations +
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
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.
© (1991) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Baba C. Vemuri, Baba C. Vemuri, G. Skofteland, 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); doi: 10.1117/12.25248; https://doi.org/10.1117/12.25248


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