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This paper put forward an algorithm to measure the position and pose of the six degrees of freedom micro-platform based on monocular visual. Firstly, the micro-platform is abstracted for the Cuboid. We solid the Cuboid which knows its initial position and pose with the world coordinate system together, and select vertices and edges as the feature elements from the Cuboid. The feature elements can...
Development has continued with intrinsic feature optical motion tracking for awake animal imaging to measure 3D position and orientation (pose) for motion compensated reconstruction. Prior imaging results have been directed towards head motion measurement for SPECT brain studies in awake unrestrained mice. This work improves on those results in extracting and tracking intrinsic features from multiple...
Current rover localization techniques such as visual odometry have proven to be very effective on short to medium-length traverses (e.g., up to a few kilometres). This paper deals with the problem of long-range rover localization (e.g., 10km and up). An autonomous method to globally localize a rover is proposed by matching features detected from a 3D orbital elevation map and rover-based 3D lidar...
This paper presents a novel technique to align partial 3D reconstructions of the seabed acquired by a stereo camera mounted on an autonomous underwater vehicle. Vehicle localization and seabed mapping is performed simultaneously by means of an Extended Kalman Filter. Passive landmarks are detected on the images and characterized considering 2D and 3D features. Landmarks are re-observed while the robot...
This paper describes an upper-body human motion capture system which combines a learning-based algorithm for human torso posture recognition with a model-based approach which estimates the human arms pose. The system uses a skin colour tracker to capture the movement of hands and face, and stereo data to obtain the silhouette of the human. The disparity map generated by the stereo vision system is...
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