Abstract
The stereo vision measurement system is very widely employed to obtain the 6 DOF pose information for the moving objects in space. However, the linear and angular velocities are impossible to estimate using these systems while the dynamic model is unknown and disturbances exist, and their applications is limited. To overcome this disadvantage, we propose an approach based on the IMM algorithm for moving objects. Our approach is verified in the feature points of a moving object. And the simulating results show its validity.
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Acknowledgments
This work was supported by the National Basic Research Program of China (973 Program: 2012CB821200, 2012CB821201) and the NSFC (61134005, 61221061, 61327807, 61304232).
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Peng, Y., Sun, S., Jia, Y., Chen, C. (2016). Stereo Vision Pose Estimation for Moving Objects by the Interacting Multiple Model Method. In: Jia, Y., Du, J., Li, H., Zhang, W. (eds) Proceedings of the 2015 Chinese Intelligent Systems Conference. Lecture Notes in Electrical Engineering. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-662-48386-2_28
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DOI: https://doi.org/10.1007/978-3-662-48386-2_28
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