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A comparison of pose estimation techniques: Hardware vs. video Brad Grinstead*

Summary: A comparison of pose estimation techniques: Hardware vs. video

Brad Grinstead*
, Andreas Koschan, Mongi A. Abidi

Imaging, Robotics, and Intelligent Systems Laboratory
334 Ferris Hall
Department of Electrical & Computer Engineering
The University of Tennessee
Knoxville, TN 37996

Robotic navigation requires that the robotic platform have an idea of its location and orientation within the environment.
This localization is known as pose estimation, and has been a much researched topic. There are currently two main
categories of pose estimation techniques: pose from hardware, and pose from video (PfV). Hardware pose estimation
utilizes specialized hardware such as Global Positioning Systems (GPS) and Inertial Navigation Systems (INS) to
estimate the position and orientation of the platform at the specified times. PfV systems use video cameras to estimate
the pose of the system by calculating the inter-frame motion of the camera from features present in the images. These
pose estimation systems are readily integrated, and can be used to augment and/or supplant each other according to the
needs of the application. Both pose from video and hardware pose estimation have their uses, but each also has its


Source: Abidi, Mongi A. - Department of Electrical and Computer Engineering, University of Tennessee


Collections: Computer Technologies and Information Sciences