Indoor positioning of forklift trucks is often employed to track and trace goods in a warehouse. In the industry camera-based systems, which track artificial reference points (markers) on the floor or at the ceiling, have gained increasing attention. These systems use algorithms inspired by augmented reality software to estimate the camera’s pose relative to a marker for 6 degrees of freedom. I...

Correct registration of virtual objects into real scenes requires robust estimation of camera pose. Since most augmented reality applications also require real-time performance in potentially restricted environments with no a priori motion model, we seek pose estimation algorithms which are fast, perform well with few reference objects and require no initialization. In this paper, we present a ...

Pose estimation aims at measuring the position and orientation of a calibrated camera using known image features. The pinhole model is the dominant camera model in this field. However, the imaging precision of this model is not accurate enough for an advanced pose estimation algorithm. In this paper, a new camera model, called incident ray tracking model, is introduced. More importantly, an adv...

Motivated by the practical issues in applying the vision systems to the industrial robot vision applications, the dissertation has made great efforts on camera calibration, camera recalibration, vision systems calibration and pose estimation. Firstly, the calibration methods from Tsai are analyzed and improved by solving the degenerate and extent situations. Since the image origin is not calibr...

Human pose estimation using uncalibrated monocular visual inputs alone is a challenging problem for both the computer vision and robotics communities. From the robotics perspective, the challenge here is one of pose estimation of a multiply-articulated system of bodies using a single nonspecialized environmental sensor (the camera) and thereby, creating low-order surrogate computational models ...

Successful path planning and object manipulation in service robotics applications rely both on a good estimation of the robot’s position and orientation (pose) in the environment, as well as on a reliable understanding of the visualized scene. In this paper a robust real-time camera pose and scene structure estimation system is proposed. Firstly, the pose of the camera is estimated through the ...

Vanishing points of an image contain important information for camera calibration. Various calibration techniques have been introduced using the properties of vanishing points to find intrinsic and extrinsic calibration parameters. This paper revisits the vanishing points geometry and suggests a simple extrinsic parameter estimation algorithm which uses a single rectangle. The comparison with t...

We focus on the challenging problem of efficient mouse 3D pose estimation based on static images, and especially single depth images. We introduce an approach to discriminatively train the split nodes of trees in random forest to improve their performance on estimation of 3D joint positions of mouse. Our algorithm is capable of working with different types of rodents and with different types of...