Combining PMD and Stereo camera for Motion Estimation of a Mobile Robot

摘要: This paper introduces an improvement to the 6D motion estimation solution by combining Photonic Mixer Device (PMD) and Stereo Camera. The main feature of stereo camera is higher resolution 2D image compared one from PMD camera. Whereas depth information derived a usually far superior result work hence proposes combination scheme for in order improve results estimation. combined setup was placed on mobile robot carried task using provided artificial landmark. moved around while simultaneously captures 3D images landmark each new position. estimated based matching captured between two successive positions. classical singular value decomposition (SVD) algorithm used solve problem. referent points SVD were extracted robust corner detection algorithm. experiments fulfilled 1) 2) 3) these three arrangements are outcome comparing presented.