A multisensor fusion approach to shape estimation using a mobile platform with uncalibrated position
作者： Zi Zhang , B.K. Ghosh
关键词: Kalman filter 、 Sensor fusion 、 Ranging 、 Odometer 、 Robotics 、 Mobile robot 、 Computer science 、 Artificial intelligence 、 Computer vision 、 Machine vision 、 Extended Kalman filter
摘要: Estimation of three dimensional shapes is a difficult problem which has been considered by researchers in machine vision and robotics. A typical to estimate shape using images taken from various viewpoints. We consider camera mounted on mobile platform actively controlled effecting changes the viewpoint camera. The also capability 2D ranging addition camera-hence providing an opportunity for sensor fusion. In this paper, we first developed new technique calibrate position based range lines odometer. Then these calibration parameters, (plane) estimation extended Kalman filter (EKF) carried out utilizing multiple views CCD data finder. effectiveness approach proved experimental results.
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