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

Om Gupta; Raymond Jarvis

doi:10.1109/RAMECH.2010.5513136

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

Om Gupta, Raymond Jarvis

Electrical and Computer Systems Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference Paper › Research › peer-review

7 Citations (Scopus)

Abstract

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 language	English
Title of host publication	Proceedings of 2010 IEEE International Conference on Robotics, Automation and Mechatronics
Editors	Chee-Meng Chew, Han Weng
Place of Publication	USA
Publisher	IEEE, Institute of Electrical and Electronics Engineers
Pages	533 - 539
Number of pages	7
ISBN (Print)	9781424465033
DOIs	https://doi.org/10.1109/RAMECH.2010.5513136
Publication status	Published - 2010
Event	IEEE Conference on Robotics, Automation and Mechatronics 2010 - Singapore, Singapore Duration: 28 Jun 2010 → 30 Jun 2010

Conference

Conference	IEEE Conference on Robotics, Automation and Mechatronics 2010
Country/Territory	Singapore
City	Singapore
Period	28/06/10 → 30/06/10

Access to Document

10.1109/RAMECH.2010.5513136

Cite this

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title = "Robust pose estimation and tracking system for a mobile robot using a panoramic camera",

abstract = "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",

author = "Om Gupta and Raymond Jarvis",

year = "2010",

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editor = "Chee-Meng Chew and Han Weng",

booktitle = "Proceedings of 2010 IEEE International Conference on Robotics, Automation and Mechatronics",

publisher = "IEEE, Institute of Electrical and Electronics Engineers",

address = "United States of America",

note = "IEEE Conference on Robotics, Automation and Mechatronics 2010 ; Conference date: 28-06-2010 Through 30-06-2010",

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Gupta, O & Jarvis, R 2010, Robust pose estimation and tracking system for a mobile robot using a panoramic camera. in C-M Chew & H Weng (eds), Proceedings of 2010 IEEE International Conference on Robotics, Automation and Mechatronics. IEEE, Institute of Electrical and Electronics Engineers, USA, pp. 533 - 539, IEEE Conference on Robotics, Automation and Mechatronics 2010, Singapore, Singapore, 28/06/10. https://doi.org/10.1109/RAMECH.2010.5513136

Robust pose estimation and tracking system for a mobile robot using a panoramic camera. / Gupta, Om; Jarvis, Raymond.
Proceedings of 2010 IEEE International Conference on Robotics, Automation and Mechatronics. ed. / Chee-Meng Chew; Han Weng. USA: IEEE, Institute of Electrical and Electronics Engineers, 2010. p. 533 - 539.

Research output: Chapter in Book/Report/Conference proceeding › Conference Paper › Research › peer-review

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AB - 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

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DO - 10.1109/RAMECH.2010.5513136

M3 - Conference Paper

SN - 9781424465033

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Y2 - 28 June 2010 through 30 June 2010

ER -

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

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