Robust pose estimation and tracking system for a mobile robot using a panoramic camera

Om Gupta, Raymond Jarvis

Research output: Chapter in Book/Report/Conference proceedingConference PaperResearchpeer-review

7 Citations (Scopus)


A localisation system is an essential knowledge for a mobile robot to be able to freely navigate in its world. In this paper, pose estimation and tracking of a mobile robot is presented for an indoor cluttered environment using only an overhead panoramic vision system. The method presented is fast without requiring unwrapping of the panoramic view. It is assumed that the robot s workspace is 2D planer surface. A system combining mean-shift, Kalman Filter and Hough Transform based tracking is used to improve the result. Experiments show that the method is capable of robustly localising and tracking the robot in cluttered scenes even with variations of illumination and brief periods of occlusion
Original languageEnglish
Title of host publicationProceedings of 2010 IEEE International Conference on Robotics, Automation and Mechatronics
EditorsChee-Meng Chew, Han Weng
Place of PublicationUSA
PublisherIEEE, Institute of Electrical and Electronics Engineers
Pages533 - 539
Number of pages7
ISBN (Print)9781424465033
Publication statusPublished - 2010
EventIEEE Conference on Robotics, Automation and Mechatronics 2010 - Singapore, Singapore
Duration: 28 Jun 201030 Jun 2010


ConferenceIEEE Conference on Robotics, Automation and Mechatronics 2010

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