scholarly journals Pose Estimation of Automatic Battery-Replacement System Based on ORB and Improved Keypoints Matching Method

2019 ◽  
Vol 9 (2) ◽  
pp. 237 ◽  
Author(s):  
Jiabin Jiang ◽  
Fan Wu ◽  
Pengfei Zhang ◽  
Fanyi Wang ◽  
Yongying Yang
Keyword(s):  
Pose Estimation ◽  
Hamming Distance ◽  
Robot Manipulator ◽  
Matching Method ◽  
Spatial Consistency ◽  
Reprojection Error ◽  
Matching Procedure ◽  
Estimation System ◽  
Searching Method ◽  
Keypoints Matching

This paper presents an improved Oriented Feature from Accelerated Segment Test (FAST) and Rotated BRIEF (ORB) keypoints matching method for pose estimation of automatic battery-replacement systems. The key issue of the system is how to precisely estimate the pose of the camera in respect to the battery. In our system, the pose-estimation hardware module is mounted onto the robot manipulator, composed of double high brightness LED light source, one monocular camera, and two laser rangefinders. The camera is utilized to take an image of the battery, the laser rangefinders on both sides of the camera are utilized to detect the real-time distance between the battery and the pose-estimation system. The estimation result is significantly influenced by the matching result of the keypoints detected by the ORB technique. The modified matching procedure, based on spatial consistency nearest hamming distance searching method, is used to determine the correct correspondences. Meanwhile, the iterative reprojection error minimization algorithm is utilized to discard incorrect correspondences. Verified by the experiments, the results reveal that this method is highly reliable and able to achieve the required positioning accuracy. The positioning error is lower than 1 mm.

Vehicle Pose Estimation System Base on Pressure Sensor Array for Clamping Parking Robot

2021 ◽  
Author(s):  
Juzhong Zhang ◽  
Yuyi Chu ◽  
Zhisen Wang ◽  
Tingfeng Ye ◽  
Liming Cai ◽  
...  
Keyword(s):  
Pose Estimation ◽  
Pressure Sensor ◽  
Sensor Array ◽  
Estimation System

scholarly journals A Closed-Form Solution for Estimating the Accuracy of Circular Feature’ Pose for Object 2D-3D Pose Estimation System

2021 ◽  
Vol 2021 ◽  
pp. 1-17
Author(s):  
Cui Li ◽  
Derong Chen ◽  
Jiulu Gong ◽  
Yangyu Wu
Keyword(s):  
Closed Form ◽  
Covariance Matrix ◽  
Pose Estimation ◽  
Closed Form Solution ◽  
Optimization Method ◽  
Form Solution ◽  
Synthetic Image ◽  
Point Selection ◽  
3D Pose Estimation ◽  
Estimation System

Many objects in the real world have circular feature. In general, circular feature’s pose is represented by 5-DoF (degree of freedom) vector ξ = X , Y , Z , α , β T . It is a difficult task to measure the accuracy of circular feature’s pose in each direction and the correlation between each direction. This paper proposes a closed-form solution for estimating the accuracy of pose transformation of circular feature. The covariance matrix of ξ is used to measure the accuracy of the pose. The relationship between the pose of the circular feature of 3D object and the 2D points is analyzed to yield an implicit function, and then Gauss–Newton theorem is employed to compute the partial derivatives of the function with respect to such point, and after that the covariance matrix is computed from both the 2D points and the extraction error. In addition, the method utilizes the covariance matrix of 5-DoF circular feature’s pose variables to optimize the pose estimator. Based on pose covariance, minimize the mean square error (Min-MSE) metric is introduced to guide good 2D imaging point selection, and the total amount of noise introduced into the pose estimator can be reduced. This work provides an accuracy method for object 2D-3D pose estimation using circular feature. At last, the effectiveness of the method for estimating the accuracy is validated based on both random data sets and synthetic images. Various synthetic image sequences are illustrated to show the performance and advantages of the proposed pose optimization method for estimating circular feature’s pose.

scholarly journals Global Appearance Applied to Visual Map Building and Path Estimation Using Multiscale Analysis

2014 ◽  
Vol 2014 ◽  
pp. 1-23 ◽  
Author(s):  
Francisco Amorós ◽  
Luis Payá ◽  
Oscar Reinoso ◽  
Walterio Mayol-Cuevas ◽  
Andrew Calway
Keyword(s):  
Pose Estimation ◽  
Visual Information ◽  
Multiscale Analysis ◽  
Spatial Arrangement ◽  
Field Of View ◽  
Indoor Environments ◽  
Map Building ◽  
Topological Map ◽  
Complete Field ◽  
Estimation System

In this work we present a topological map building and localization system for mobile robots based on global appearance of visual information. We include a comparison and analysis of global-appearance techniques applied to wide-angle scenes in retrieval tasks. Next, we define multiscale analysis, which permits improving the association between images and extracting topological distances. Then, a topological map-building algorithm is proposed. At first, the algorithm has information only of some isolated positions of the navigation area in the form of nodes. Each node is composed of a collection of images that covers the complete field of view from a certain position. The algorithm solves the node retrieval and estimates their spatial arrangement. With these aims, it uses the visual information captured along some routes that cover the navigation area. As a result, the algorithm builds a graph that reflects the distribution and adjacency relations between nodes (map). After the map building, we also propose a route path estimation system. This algorithm takes advantage of the multiscale analysis. The accuracy in the pose estimation is not reduced to the nodes locations but also to intermediate positions between them. The algorithms have been tested using two different databases captured in real indoor environments under dynamic conditions.

Exposure Duration and Effective Figure-Ground Contrast

1965 ◽  
Vol 17 (4) ◽  
pp. 308-314 ◽  
Author(s):  
Daniel Kahneman
Keyword(s):  
Exposure Duration ◽  
Matching Method ◽  
Apparent Contrast ◽  
Post Exposure ◽  
Tachistoscopic Presentation ◽  
Matching Procedure ◽  
Contrast Matching

The pre-and post-exposure fields in the tachistoscopic presentation are assumed to reduce the apparent contrast of the figure by brightness summation. A matching procedure was used to measure this effect. Apparent contrast rises linearly with duration, but only in the upper range. Further observations confirm the suggestion that the pre-and post-exposure fields retard the formation of bounding contours with a further reduction of apparent contrast at short durations as a result. It is indicated that the contrast-matching method provides a short-cut technique for the measurement of the temporal range of brightness summation.

scholarly journals Comparison of a Deep Learning-Based Pose Estimation System to Marker-Based and Kinect Systems in Exergaming for Balance Training

Sensors ◽  
2020 ◽  
Vol 20 (23) ◽  
pp. 6940
Author(s):  
Elise Klæbo Vonstad ◽  
Xiaomeng Su ◽  
Beatrix Vereijken ◽  
Kerstin Bach ◽  
Jan Harald Nilsen
Keyword(s):  
Deep Learning ◽  
Pose Estimation ◽  
Gold Standard ◽  
Large Scale ◽  
Statistical Significance ◽  
Balance Training ◽  
Home Exercise ◽  
Rank Test ◽  
Camera System ◽  
Estimation System

Using standard digital cameras in combination with deep learning (DL) for pose estimation is promising for the in-home and independent use of exercise games (exergames). We need to investigate to what extent such DL-based systems can provide satisfying accuracy on exergame relevant measures. Our study assesses temporal variation (i.e., variability) in body segment lengths, while using a Deep Learning image processing tool (DeepLabCut, DLC) on two-dimensional (2D) video. This variability is then compared with a gold-standard, marker-based three-dimensional Motion Capturing system (3DMoCap, Qualisys AB), and a 3D RGB-depth camera system (Kinect V2, Microsoft Inc). Simultaneous data were collected from all three systems, while participants (N = 12) played a custom balance training exergame. The pose estimation DLC-model is pre-trained on a large-scale dataset (ImageNet) and optimized with context-specific pose annotated images. Wilcoxon’s signed-rank test was performed in order to assess the statistical significance of the differences in variability between systems. The results showed that the DLC method performs comparably to the Kinect and, in some segments, even to the 3DMoCap gold standard system with regard to variability. These results are promising for making exergames more accessible and easier to use, thereby increasing their availability for in-home exercise.

Enhanced real-time head pose estimation system for mobile device

2014 ◽  
Vol 21 (3) ◽  
pp. 281-293 ◽  
Author(s):  
Euclides N. Arcoverde Neto ◽  
Rafael M. Duarte ◽  
Rafael M. Barreto ◽  
João Paulo Magalhães ◽  
Carlos C.M. Bastos ◽  
...  
Keyword(s):  
Real Time ◽  
Pose Estimation ◽  
Mobile Device ◽  
Head Pose Estimation ◽  
Head Pose ◽  
Estimation System

Experimental verification of turbidity tolerance of stereo-vision-based 3D pose estimation system

2018 ◽  
Vol 24 (3) ◽  
pp. 756-779
Author(s):  
Myo Myint ◽  
Khin Nwe Lwin ◽  
Naoki Mukada ◽  
Daiki Yamada ◽  
Takayuki Matsuno ◽  
...  
Keyword(s):  
Pose Estimation ◽  
Stereo Vision ◽  
Experimental Verification ◽  
3D Pose Estimation ◽  
Estimation System
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