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| Type | Conference or Workshop Paper |
| Scope | Discipline-based scholarship |
| Published in Proceedings | Yes |
| Title | A monocular pose estimation system based on infrared LEDs |
| Organization Unit | |
| Authors |
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| Presentation Type | paper |
| Item Subtype | Original Work |
| Refereed | Yes |
| Status | Published in final form |
| Language |
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| ISSN | 1050-4729 |
| Page Range | 907 - 913 |
| Event Title | IEEE International Conference on Robotics and Automation (ICRA) |
| Event Type | conference |
| Event Location | Hong Kong |
| Event Start Date | May 31 - 2014 |
| Event End Date | June 7 - 2014 |
| Series Name | IEEE International Conference on Robotics and Automation. Proceedings |
| Place of Publication | Hong Kong |
| Publisher | Institute of Electrical and Electronics Engineers |
| Abstract Text | We present an accurate, efficient, and robust pose estimation system based on infrared LEDs. They are mounted on a target object and are observed by a camera that is equipped with an infrared-pass filter. The correspondences between LEDs and image detections are first determined using a combinatorial approach and then tracked using a constant-velocity model. The pose of the target object is estimated with a P3P algorithm and optimized by minimizing the reprojection error. Since the system works in the infrared spectrum, it is robust to cluttered environments and illumination changes. In a variety of experiments, we show that our system outperforms state-of-the-art approaches. Furthermore, we successfully apply our system to stabilize a quadrotor both indoors and outdoors under challenging conditions. We release our implementation as open-source software. |
| Related URLs |
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| Digital Object Identifier | 10.1109/ICRA.2014.6906962 |
| Other Identification Number | merlin-id:10195 |
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