DSpace
 

Researchspace >
General science, engineering & technology >
General science, engineering & technology >
General science, engineering & technology >

Please use this identifier to cite or link to this item: http://hdl.handle.net/10204/6266

Title: ToF camera ego-motion estimation
Authors: Ratshidaho, T
Tapamo, JR
Claassens, J
Govender, N
Keywords: Ego-motion
Time-of-Flight
ToF
Autonomous robots
Iterative Closest Point
ICP
Issue Date: Oct-2012
Citation: Ratshidaho, T, Tapamo, JR, Claassens, J and Govender, N. ToF camera ego-motion estimation. 4th CSIR Biennial Conference: Real problems relevant solutions, CSIR, Pretoria, 9-10 October 2012
Abstract: We present three approaches for ego-motion estimation using Time-of-Flight (ToF) camera data. Ego-motion is defined as a process of estimating a camera’s pose (position and orientation) relative to some initial pose using the camera’s image sequences. Ego-motion facilitates the localisation of the robot. The ToF camera is characterised with a number of error models. Iterative Closest Point (ICP) is applied to consecutive range images of the ToF camera to estimate the relative pose transform which is used for ego-motion estimation. We implemented two variants of ICP, namely point-to-point and point-to-plane. A feature-based ego-motion approach that detects and tracks features on the amplitude images and uses their corresponding 3D points to estimate the relative transformation, is implemented. These approaches are evaluated using groundtruth data provided by a motion capture system (Vicon). The SIFT ego-motion estimation was found to perform faster when compared to the ICP-based methods.
Description: 4th CSIR Biennial Conference: Real problems relevant solutions, CSIR, Pretoria, 9-10 October 2012
URI: http://hdl.handle.net/10204/6266
Appears in Collections:Technology for special operations
CSIR Conference 2012
Sensor science and technology
Mobile intelligent autonomous systems
General science, engineering & technology

Files in This Item:

File Description SizeFormat
Ratshidaho_2012.pdf2.28 MBAdobe PDFView/Open
View Statistics

Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.

 

Valid XHTML 1.0! DSpace Software Copyright © 2002-2010  Duraspace - Feedback