Vision-based pose estimation for robot navigation in an uncontrolled environment

Juan Zheng; Rigoberto Juarez-Salazar; Victor H. Diaz-Ramirez

doi:10.1117/12.2677909

4 October 2023 Vision-based pose estimation for robot navigation in an uncontrolled environment

Juan Zheng, Rigoberto Juarez-Salazar, Victor H. Diaz-Ramirez

Author Affiliations +

Proceedings Volume 12673, Optics and Photonics for Information Processing XVII; 126730H (2023) https://doi.org/10.1117/12.2677909
Event: SPIE Optical Engineering + Applications, 2023, San Diego, California, United States

Abstract

Location and pose estimation are essential tasks for robot navigation. Conventional global positioning systems can perform poorly due to environmental or indoor interference. Alternatively, vision-based location and pose estimation systems may be more suitable for indoor and outdoor applications. However, vision-based systems still need to improve their robustness in an uncontrolled environment and operational performance. In this work, a visual pose estimation method for robot navigation in an uncontrolled environment is proposed. The theoretical principles of pose estimation are reviewed and the usefulness of the proposed approach in a navigation sequence is shown. The results obtained show that the proposed method is feasible for robot navigation applications.

Conference Presentation

(2023) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Juan Zheng, Rigoberto Juarez-Salazar, and Victor H. Diaz-Ramirez "Vision-based pose estimation for robot navigation in an uncontrolled environment", Proc. SPIE 12673, Optics and Photonics for Information Processing XVII, 126730H (4 October 2023); https://doi.org/10.1117/12.2677909

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