Real-Time Pose Estimation of a Mobile Rover Using Kinect Sensor

11 Pages Posted: 15 Apr 2020

See all articles by Mahesh K. Singh

Mahesh K. Singh

Government of India - National Institute of Technology New Delhi

Date Written: June 2019

Abstract

The critical challenge of vision-based control of the mobile robot is to accurately estimate the position and orientation (pose) in the exploration of unknown terrains. In this paper, first a new approach of determining random er-rors in a pose measurement of Kinect scanner's 3D datasets by frame propagat-ing transformation approach is presented. Next, 3D visual information provided by Kinect scanner is used to track the optimum (minimum error) pose path of the rover through Kalman filter. The experimental results have been performed on real terrains which demonstrate the proposed approach efficiently tracks the poses from noisy 3D datasets.

Keywords: Kinect Sensor, Rover, Kalman Filter, 3D Tracking

Suggested Citation

Singh, Mahesh K., Real-Time Pose Estimation of a Mobile Rover Using Kinect Sensor (June 2019). Proceedings of the International Conference on Advances in Electronics, Electrical & Computational Intelligence (ICAEEC) 2019, Available at SSRN: https://ssrn.com/abstract=3575469 or http://dx.doi.org/10.2139/ssrn.3575469

Mahesh K. Singh (Contact Author)

Government of India - National Institute of Technology New Delhi ( email )

New Delhi
India

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