JOURNAL OF SHANDONG UNIVERSITY(NATURAL SCIENCE) ›› 2015, Vol. 50 ›› Issue (03): 32-39.doi: 10.6040/j.issn.1671-9352.0.2014.444

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An accurate and fast pose estimation algorithm foron-board camera of mobile robot

TANG Qing-shun1, WU Chun-fu1, LI Guo-dong1, WANG Xiao-long1, ZHOU Feng-yu2   

  1. 1. School of Physics and Mechanical and Electrical Engineering, Longyan College, Longyan 364012, Fujian, China;
    2. School of Control Science and Engineering, Shandong University, Jinan 250061, Shandong, China
  • Received:2014-10-09 Revised:2015-01-16 Online:2015-03-20 Published:2015-03-13

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Abstract: An accurate and fast pose estimation problem for on-board camera of mobile robot is investigated. Firstly the special properties of the pose for on-board camera of mobile robot are analyzed. Secondly, an auxiliary rotation matrix is constructed using the on-board camera's equivalent rotation axis, which is utilized to turn the initial essential matrix and homography matrix into a simplified kind that can be decomposed through elementary mathematical operations. Finally, some simulation experiments are designed to verify the algorithm's rapidity, accuracy and robustness. The experimental results show that compared to traditional algorithms, the proposed algorithm can acquire higher accuracy and faster calculating speed, together with the robustness to the disturbance of the on-board camera's equivalent rotation axis. In addition, the number of possible solutions are reduced one half, and the unique rotation angle of the mobile robot can be determined except for the condition that the 3D planar scene structure and the ground are perpendicular, which can provide great convenience for controlling the pose of the mobile robot.

Key words: pose estimation, homography matrix decomposition, on-board camera, essential matrix decomposition, mobile robot

CLC Number: 

  • TP24.2
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