The geometry and algebra of kinematics
Geometric computing with Clifford algebras
Pose Estimation in the Language of Kinematics
AFPAC '00 Proceedings of the Second International Workshop on Algebraic Frames for the Perception-Action Cycle
Extended Kalman Filter Design for Motion Estimation by Point and Line Observations
AFPAC '00 Proceedings of the Second International Workshop on Algebraic Frames for the Perception-Action Cycle
Two Modules of a Vision-Based Robotic System: Attention and Accumulation of Object Representations
RobVis '01 Proceedings of the International Workshop on Robot Vision
Accumulation of Object Representation Utilizing Interaction of Robot Action and Perception
Mustererkennung 2000, 22. DAGM-Symposium
Two Modules of a Vision-Based Robotic System: Attention and Accumulation of Object Representations
RobVis '01 Proceedings of the International Workshop on Robot Vision
BMCV '02 Proceedings of the Second International Workshop on Biologically Motivated Computer Vision
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In this paper we apply a novel pose estimation algorithm to the tracking problem. We make use of error measures of the algorithm which enable us to characterize the quality of an estimated pose. The key idea of the tracking algorithm is random start local search. The principle of the heuristic relies upon a combination of iterative improvement and random sampling. While in many approaches a manually designed object representation is assumed,w e overcome this condition by using accumulated object representations and combine these successfully with the tracking algorithm.