A 3-degree of freedom binary search pose estimation technique |
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Authors: | Robert Ross Andrew Martchenko John Devlin |
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Affiliation: | 1. Department of Electronic Engineering, La Trobe University, Bundoora, Melbourne, VIC, 3086, Australia
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Abstract: | This paper describes a novel, binary search pose estimation (BSPE) technique for poses constrained to 3 degrees of freedom (DOF). The technique requires three fiduciary marker points and operates by minimising the angular DOF through a binary search driven algorithm. The technique is less computationally intensive than the standard closed form solutions and quickly converges to a solution which can be verified if additional fiduciary points are available. Evaluation for the technique is presented through a comparison to pose from orthography and scaling with iterations (POSIT) using synthetic data and a real-world application, where the technique is used for pose estimation of a mobile robot with respect to a motor vehicle for inspection purposes. |
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