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Proceedings Paper

A combined vision-inertial fusion approach for 6-DoF object pose estimation
Author(s): Juan Li; Ana M. Bernardos; Paula Tarrío; José R. Casar
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Paper Abstract

The estimation of the 3D position and orientation of moving objects (‘pose’ estimation) is a critical process for many applications in robotics, computer vision or mobile services. Although major research efforts have been carried out to design accurate, fast and robust indoor pose estimation systems, it remains as an open challenge to provide a low-cost, easy to deploy and reliable solution. Addressing this issue, this paper describes a hybrid approach for 6 degrees of freedom (6-DoF) pose estimation that fuses acceleration data and stereo vision to overcome the respective weaknesses of single technology approaches. The system relies on COTS technologies (standard webcams, accelerometers) and printable colored markers. It uses a set of infrastructure cameras, located to have the object to be tracked visible most of the operation time; the target object has to include an embedded accelerometer and be tagged with a fiducial marker. This simple marker has been designed for easy detection and segmentation and it may be adapted to different service scenarios (in shape and colors). Experimental results show that the proposed system provides high accuracy, while satisfactorily dealing with the real-time constraints.

Paper Details

Date Published: 14 February 2015
PDF: 12 pages
Proc. SPIE 9445, Seventh International Conference on Machine Vision (ICMV 2014), 944518 (14 February 2015); doi: 10.1117/12.2180574
Show Author Affiliations
Juan Li, Univ. Politécnica de Madrid (Spain)
Ana M. Bernardos, Univ. Politécnica de Madrid (Spain)
Paula Tarrío, Univ. Politécnica de Madrid (Spain)
José R. Casar, Univ. Politécnica de Madrid (Spain)

Published in SPIE Proceedings Vol. 9445:
Seventh International Conference on Machine Vision (ICMV 2014)
Antanas Verikas; Branislav Vuksanovic; Petia Radeva; Jianhong Zhou, Editor(s)

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