Rigid Transformation Using Interval Analysis for Robot Motion Estimation

M. Mustafa, A. Stancu, S. P. Gutierrez, E. A. Codres, L. Jaulin

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    Abstract

    Rigid transformation is a popular method to estimatethe robot motion given two sets of corresponding pointsseen from two different locations. Range imaging sensors, suchas stereo camera and structured-light 3-D scanner, can be usedto provide these corresponding points, however, such sensorshave measurement uncertainty defined by intervals with upperand lower bounds. This paper presents a new approach to useinterval analysis and simultaneously estimate the following: (1)the robot motion and, (2) the position of the landmarks withrespect to the initial frame of reference, i.e. the robot initialpose. We will show that using this approach, the uncertaintiesof the landmark positions decrease over time, which causes theuncertainty of the robot pose to remain bounded. Our approachis illustrated with examples using simulated data, and real dataacquired by Kinect sensor.
    Original languageEnglish
    Title of host publicationControl Systems and Computer Science (CSCS), 2015 20th International Conference on
    PublisherIEEE
    Pages24-31
    Number of pages8
    DOIs
    Publication statusPublished - May 2015
    EventControl Systems and Computer Science (CSCS), 2015 20th International Conference on - Bucharest, Romania
    Duration: 27 May 201529 May 2015

    Conference

    ConferenceControl Systems and Computer Science (CSCS), 2015 20th International Conference on
    CityBucharest, Romania
    Period27/05/1529/05/15

    Keywords

    • Interval Analysis; Optimization; Parameter Estimation; Range Imaging Sensor; Mobile Robot Localization.

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