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A method for stereo-vision-based tracking for robotic applications

Pathirana, Pubudu; Bishop, Adrian; Savkin, Andrey V; Ekanayake , Samitha W.; Black, Timothy J.


Vision-based tracking of an object using perspective projection inherently results in non-linear measurement equations in the Cartesian coordinates. The underlying object kinematics can be modelled by a linear system. In this paper we introduce a measurement conversion technique that analytically transforms the non-linear measurement equations obtained from a stereo-vision system into a system of linear measurement equations. We then design a robust linear filter around the converted...[Show more]

CollectionsANU Research Publications
Date published: 2010
Type: Journal article
Source: Robotica
DOI: 10.1017/S0263574709005827


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