hodgson-robustvideoultrasonic-2007.pdf (1.72 MB)
Robust video/ultrasonic fusion based estimation for automotive applications
conference contribution
posted on 2006-01-01, 00:00 authored by Pubudu PathiranaPubudu Pathirana, Allan Lim, A Savkin, Peter HodgsonPeter HodgsonWe describe how object estimation by a stationary or a non-stationary camera can be improved using recently-developed robust estimation ideas. The robustness of vision-based systems can be improved significantly by employing a Robust Extended Kalman Filter (REKF). The system performance is also enhanced by increasing the spatial diveristy in measurements via employing additional cameras for video capture. We describe a normal-flow based image segmentation technique to identify the object for the application of our proposed state estimation technique. Our simulations demonstrate that dynamic system modelling coupled with the application of a REKF significantly improves the estimation system performance, especially when large uncertainties are present.
History
Event
IEEE International Conference on Industrial Informatics (4th : 2006 : Singapore)Pagination
207 - 212Publisher
IEEELocation
SingaporePlace of publication
Piscataway, N.J.Start date
2006-08-16End date
2006-08-18ISBN-10
0780397002Language
engNotes
©2007 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.Publication classification
E1 Full written paper - refereedCopyright notice
2006 IEEETitle of proceedings
INDIN 2006 : Integrating manufacturing and services systems : Proceedings of the 2006 IEEE International Conference on Industrial InformaticsUsage metrics
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