Single camera based motion and shape estimation using extended Kalman filtering

DOI10.1016/S0895-7177(01)00079-6MaRDI QIDQ1600430zbMATH OpenFDO

Authors R. Smith

Publication date 13 June 2002

Published in Mathematical and Computer Modelling (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/S0895-7177(01)00079-6

zbMATH Keywords

algebraic estimationextended Kalman filterrigid body motion estimationsensitivityshape parameters of a moving object

Mathematics Subject Classification ID

Sensitivity (robustness) (93B35) Estimation and detection in stochastic control theory (93E10) Filtering in stochastic control theory (93E11)

Review text

The problem of estimating the motion and shape parameters of a moving rigid body from a time series of noisy image data is considered in the paper. In general, the estimation problem is ill-posed and is quite sensitive to noise in the observed data. In order to overcome the noise problem, various recursive estimation schemes were proposed. The most popular of which is the extended Kalman filtering procedure. The authors propose a numerical study and compare a recursive algorithm based on an extended Kalman filter with a non-recursive algebraic method of estimating the motion and shape parameters of a moving object. The conclusion of the paper is that the recursive methods give robust estimates while the algebraic estimation schemes are sensitive to noise.

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Cites work

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(10)

• Second-order recursive filtering on the rigid-motion Lie group \(\mathrm{SE}_3\) based on nonlinear observations
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• Passivity-based adaptive 3D visual servoing without depth and image velocity measurements for uncertain robot manipulators
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