Pose Estimation of Objects using Multiple ID Devices
Pose Estimation of Objects using Multiple ID Devices
复制标题
使用多个 ID 设备进行物体姿态估计
DOI：
10.7210/jrsj.23.84
复制
发表时间：
2005
期刊：
影响因子：
--
通讯作者：
J. Yagi
中科院分区：
文献类型：
--
作者：
T. Umetani;Y. Mae;Kenji Inoue;T. Arai;J. Yagi
针对自主机器人，提出了一种利用多个ID设备对每个物体进行姿态(位置和姿态)估计的方法。根据附连到对象的装置的姿势和阅读器的阅读姿势之间的几何关系来估计对象姿势。要求至少两个不同方向的ID设备的姿势。我们提出了一种即使在ID读取器有通信区域的体积的情况下也能对ID设备进行精确定位的方法。通过位姿估计实验，验证了该方法的可行性。
This paper proposes a method of pose (position and orientation) estimation of objects using multiple ID devices attached to each object for autonomous robots. The object pose is estimated from geometrical relation between poses of the devices attached to the object and the reading poses of the reader. It is required the poses of at least two ID devices in different orientations. We propose a method of precise localization of the ID device even when the ID reader has the volume of communication area. We show the feasibility of our proposed method through the pose estimation experiment.