Stereo vision pose estimation for moving objects by the interacting multiple model method

Ying Peng; Shihao Sun; Yingmin Jia; Changqing Chen

doi:10.1007/978-3-662-48386-2_28

Stereo vision pose estimation for moving objects by the interacting multiple model method

Ying Peng^*
, Shihao Sun
, Yingmin Jia
, Changqing Chen

^*Corresponding author for this work

School of Automation Science and Electrical Engineering

Beihang University
CAS - Beijing Institute of Control Engineering

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

Abstract

The stereo vision measurement system is very widely employed to obtain the 6 DOF pose information for the moving objects in space. However, the linear and angular velocities are impossible to estimate using these systems while the dynamic model is unknown and disturbances exist, and their applications is limited. To overcome this disadvantage, we propose an approach based on the IMM algorithm for moving objects. Our approach is verified in the feature points of a moving object. And the simulating results show its validity.

Original language	English
Title of host publication	Proceedings of the 2015 Chinese Intelligent Systems Conference
Editors	Hongbo Li, Weicun Zhang, Yingmin Jia, Junping Du
Publisher	Springer Verlag
Pages	263-272
Number of pages	10
ISBN (Print)	9783662483848
DOIs	https://doi.org/10.1007/978-3-662-48386-2_28
State	Published - 2016
Event	Chinese Intelligent Systems Conference, CISC 2015 - Yangzhou, China Duration: 1 Jan 2015 → …

Publication series

Name	Lecture Notes in Electrical Engineering
Volume	359
ISSN (Print)	1876-1100
ISSN (Electronic)	1876-1119

Conference

Conference	Chinese Intelligent Systems Conference, CISC 2015
Country/Territory	China
City	Yangzhou
Period	1/01/15 → …

Keywords

6DOF
IMM
Kalman filter
Pose estimation

Access to Document

10.1007/978-3-662-48386-2_28

Cite this

Peng, Y., Sun, S., Jia, Y., & Chen, C. (2016). Stereo vision pose estimation for moving objects by the interacting multiple model method. In H. Li, W. Zhang, Y. Jia, & J. Du (Eds.), Proceedings of the 2015 Chinese Intelligent Systems Conference (pp. 263-272). (Lecture Notes in Electrical Engineering; Vol. 359). Springer Verlag. https://doi.org/10.1007/978-3-662-48386-2_28

@inproceedings{4c280c98bd99485a8727a812c35dc51f,

title = "Stereo vision pose estimation for moving objects by the interacting multiple model method",

abstract = "The stereo vision measurement system is very widely employed to obtain the 6 DOF pose information for the moving objects in space. However, the linear and angular velocities are impossible to estimate using these systems while the dynamic model is unknown and disturbances exist, and their applications is limited. To overcome this disadvantage, we propose an approach based on the IMM algorithm for moving objects. Our approach is verified in the feature points of a moving object. And the simulating results show its validity.",

keywords = "6DOF, IMM, Kalman filter, Pose estimation",

author = "Ying Peng and Shihao Sun and Yingmin Jia and Changqing Chen",

note = "Publisher Copyright: {\textcopyright} Springer-Verlag Berlin Heidelberg 2016.; Chinese Intelligent Systems Conference, CISC 2015 ; Conference date: 01-01-2015",

year = "2016",

doi = "10.1007/978-3-662-48386-2\_28",

language = "英语",

isbn = "9783662483848",

series = "Lecture Notes in Electrical Engineering",

publisher = "Springer Verlag",

pages = "263--272",

editor = "Hongbo Li and Weicun Zhang and Yingmin Jia and Junping Du",

booktitle = "Proceedings of the 2015 Chinese Intelligent Systems Conference",

address = "德国",

}

Peng, Y, Sun, S, Jia, Y & Chen, C 2016, Stereo vision pose estimation for moving objects by the interacting multiple model method. in H Li, W Zhang, Y Jia & J Du (eds), Proceedings of the 2015 Chinese Intelligent Systems Conference. Lecture Notes in Electrical Engineering, vol. 359, Springer Verlag, pp. 263-272, Chinese Intelligent Systems Conference, CISC 2015, Yangzhou, China, 1/01/15. https://doi.org/10.1007/978-3-662-48386-2_28

Stereo vision pose estimation for moving objects by the interacting multiple model method. / Peng, Ying; Sun, Shihao; Jia, Yingmin et al.
Proceedings of the 2015 Chinese Intelligent Systems Conference. ed. / Hongbo Li; Weicun Zhang; Yingmin Jia; Junping Du. Springer Verlag, 2016. p. 263-272 (Lecture Notes in Electrical Engineering; Vol. 359).

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

TY - GEN

T1 - Stereo vision pose estimation for moving objects by the interacting multiple model method

AU - Peng, Ying

AU - Sun, Shihao

AU - Jia, Yingmin

AU - Chen, Changqing

N1 - Publisher Copyright: © Springer-Verlag Berlin Heidelberg 2016.

PY - 2016

Y1 - 2016

N2 - The stereo vision measurement system is very widely employed to obtain the 6 DOF pose information for the moving objects in space. However, the linear and angular velocities are impossible to estimate using these systems while the dynamic model is unknown and disturbances exist, and their applications is limited. To overcome this disadvantage, we propose an approach based on the IMM algorithm for moving objects. Our approach is verified in the feature points of a moving object. And the simulating results show its validity.

AB - The stereo vision measurement system is very widely employed to obtain the 6 DOF pose information for the moving objects in space. However, the linear and angular velocities are impossible to estimate using these systems while the dynamic model is unknown and disturbances exist, and their applications is limited. To overcome this disadvantage, we propose an approach based on the IMM algorithm for moving objects. Our approach is verified in the feature points of a moving object. And the simulating results show its validity.

KW - 6DOF

KW - IMM

KW - Kalman filter

KW - Pose estimation

UR - https://www.scopus.com/pages/publications/84952684858

U2 - 10.1007/978-3-662-48386-2_28

DO - 10.1007/978-3-662-48386-2_28

M3 - 会议稿件

AN - SCOPUS:84952684858

SN - 9783662483848

T3 - Lecture Notes in Electrical Engineering

SP - 263

EP - 272

BT - Proceedings of the 2015 Chinese Intelligent Systems Conference

A2 - Li, Hongbo

A2 - Zhang, Weicun

A2 - Jia, Yingmin

A2 - Du, Junping

PB - Springer Verlag

T2 - Chinese Intelligent Systems Conference, CISC 2015

Y2 - 1 January 2015

ER -

Stereo vision pose estimation for moving objects by the interacting multiple model method

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