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Proceedings Paper

Computing motion parameters from sparse multisensor range data for telerobotics
Author(s): Baba C. Vemuri; G. Skofteland
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Paper 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.

Paper Details

Date Published: 1 April 1991
PDF: 12 pages
Proc. SPIE 1383, Sensor Fusion III: 3D Perception and Recognition, (1 April 1991); doi: 10.1117/12.25248
Show Author Affiliations
Baba C. Vemuri, Univ. of Florida/Gainesville (United States)
G. Skofteland, Univ. of Trondheim (Germany)

Published in SPIE Proceedings Vol. 1383:
Sensor Fusion III: 3D Perception and Recognition
Paul S. Schenker, Editor(s)

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