Localization and mapping on autonomous robots typically requires a good pose estimate, which is hard to acquire if the vehicle is tracked. In this paper we describe a solution to the pose estimation problem by utilizing a consumer-quality camera and an Inertial Measurement Unit (IMU). The basic idea is to continuously track salient features with the KLT feature tracker [12] over multiple images...

Interpretation of human behaviors in video data is essential for natural and intuitive human-computer interfaces. In this context, the estimation of a person’s head pose plays a major role, since heads and faces are continuously used in interaction between people. In this work we present a method for estimating a person’s head pose with a stereo camera. Our approach focuses on the application o...

We present a quadrotor Micro Aerial Vehicle (MAV) equipped with four cameras, which are arranged in two stereo configurations. The MAV is able to perform stereo matching for each camera pair on-board and in real-time, using an efficient sparse stereo method. In case of the camera pair that is facing forward, the stereo matching results are used for a reduced stereo SLAM system. The other camera...

In this paper, a new pattern based optical tracking method is presented for the recognition and pose estimation of input devices for virtual or augmented reality environments. The method is based on pencils of line fiducials, which reduces occlusion problems and allows for single camera pattern recognition and orientation estimation. Pattern recognition is accomplished using a projective invari...

Accurate motion capture plays an important role in sports analysis, the medical field and virtual reality. Current methods for motion capture often suffer from occlusions, which limits the accuracy of their pose estimation. In this paper, we propose a complete system to measure the pose parameters of the human body accurately. Different from previous monocular depth camera systems, we leverage ...

{ Recently, DeMenthon & Davis 4], 5] proposed a method for determining the pose of a 3-D object with respect to a camera from 3-D to 2-D point correspondences. The method consists of iteratively improving the pose computed with a weak perspective camera model to converge, at the limit, to a pose estimation computed with a perspective camera model. In this paper we give an algebraic derivation o...

Tommi M. Tykkälä Real-time Image-based RGB-D Camera Motion Tracking and Environment Mapping Helsinki, 2013 148 p. Acta Universitatis Lappeenrantaensis 533 Diss. Lappeenranta University of Technology ISBN 978-952-265-473-1 ISBN 978-952-265-474-8 (PDF) ISSN 1456-4491, ISSN-L 1456-4491 In this work, image based estimation methods, also known as direct methods, are studied which avoid feature extra...

This paper describes novel algorithms that use absolute camera pose information to identify correspondence among point features in hundreds or thousands of images. Our incidence counting algorithm is a geometric approach to matching; it matches features by extruding them into an absolute 3-D coordinate system, then searching 3-D space for regions into which many features project. The absolute p...