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We present an unscented Kalman filter based state estimator for a fast moving rigid body (such as a mobile robot) endowed with two video cameras. We focus on forward velocity estimation towards the computation of standard energy cost functions for legged locomotion. Points are chosen as image features and the model of each camera is based on the traditional pinhole projection. The resulting filter's...
Data communication between mobile security robots over the network is an important component in a surveillance system. Because of limited bandwidth, transmission delay, and package loss, real-time video transmission may pose some challenges. In this paper, three steps of image data reduction before transmission are proposed and discussed in detail. The first one is temporal sampling, which selects...
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