Pose estimation is crucial for visual servoing of mobile robots. This paper solves this problem by using only an off-board camera. First, a new process model customized for mobile robots is proposed. Then with the new process model and a generic camera model, an extended Kalman filter (EKF) pose estimation method appropriate for conventional and fish-eye cameras is designed. Theoretical analysis and simulation results demonstrate that our method is more robust than the traditional filtering method in the presence of occlusion.
Pose Estimation for Mobile Robots with Monocular Vision
Lect. Notes Electrical Eng.
2021-10-30
10 pages
Article/Chapter (Book)
Electronic Resource
English
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