NDLI: Exploratory motion generation for monocular vision-based target localization

Content Provider	IEEE Xplore Digital Library
Author	Frew, E.W. Rock, S.
Copyright Year	2002
Description	Author affiliation: Aerosp. Robotics Lab., Stanford Univ., CA, USA (Frew, E.W.; Rock, S.)
Abstract	This paper presents a trajectory generation algorithm for the exploratory motion of a monocular vision-based target localization system. The planning algorithm uses the Fisher Information Matrix (FIM) to quantify the information presented to the localization subsystem. Maximizing functions of the FIM minimize the best achievable error bounds on the target estimate. Current approaches solve this optimization process by assuming the object location is known. This assumption is paradoxical as the goal of the overall system is to estimate the location of the unknown object. Therefore, an iterative approach has been developed. Furthermore, current approaches maximize the information content for a given path length or time. The new algorithm presented here minimizes the path length necessary to achieve a specified level of information while incorporating other motion constraints such as range limits, viewing angles, and safety margins based on the predicted estimate covariance.
Sponsorship	IEEE Aerosp. & Electron. Syst. Soc
Starting Page	7
Ending Page	7
File Size	859797
Page Count	1
File Format	PDF
ISBN	078037231X
DOI	10.1109/AERO.2002.1035339
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2002-03-09
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Cameras Robot vision systems Simultaneous localization and mapping Robot sensing systems Tracking Motion estimation Robotic assembly Remotely operated vehicles Mobile robots Sensor systems
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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