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Proceedings Paper

Increasing robustness in self-localization and pose estimation
Author(s): Ross J. Micheals; Terrance E. Boult
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Paper Abstract

Ideally, an algorithm used for either self localization or pose estimation would be both efficient and robust. Many researchers have based their techniques on the absolute orientation research of B. K. P Horn. As will be shown in this paper, while Horn s method performs well with an additive Gaussian noise of large variance, mismatches and outliers have a more profound effect. In this paper, the authors develop a new closed-form solution to the absolute orientation problem, featuring techniques specifically designed for increasing the robustness during the critical rotation determination stage. We also include a comparative analysis of the various strengths and weaknesses of both Horn s and the new techniques.

Paper Details

Date Published: 15 November 1999
PDF: 15 pages
Proc. SPIE 3838, Mobile Robots XIV, (15 November 1999); doi: 10.1117/12.369246
Show Author Affiliations
Ross J. Micheals, Lehigh Univ. (United States)
Terrance E. Boult, Lehigh Univ. (United States)

Published in SPIE Proceedings Vol. 3838:
Mobile Robots XIV
Douglas W. Gage; Howie M. Choset, Editor(s)

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