Pose measurement using quaternion and Kalman filter  

作　　者：卢翔 Liu Jingtai Yu Kaiyan Li Yan Sun Lei 

机构地区：[1]Institute of Robotics and Automatic Information System,Nankai University

出　　处：《High Technology Letters》2014年第2期131-139,共9页高技术通讯（英文版）

基　　金：Supported by the National High Technology Research and Development Programme of China(No.2012AA041403);the National Natural Science Foundation of China(No.60905061);the National Natural Science Foundation of Tianjin(No.08JCYBJC12700)

摘　　要：In this paper,a method combining perspective-n-point(PnP) and novel iteration algorithm is developed to measure the pose of a target in high precision for Tele-LightSaber game.The PnP algorithm is used to obtain a rough pose,which is taken as the initial value of the iteration algorithm.The iteration algorithm utilizes the unit quaternions to represent the rotations.Then the result is optimized with Kalman filter.Considering the real-time and accuracy of the pose measurement,a fast feature extraction algorithm including object location,edge detection and corner detection is adopted to get the corners in high precision.The experiments and results verify the effectiveness of the proposed method.In this paper, a method combining perspective-n-point （PnP） and novel iteration algorithm is developed to measure the pose of a target in high precision for Tele-LightSaber game. The PnP algorithm is used to obtain a rough pose, which is taken as the initial value of the iteration algorithm. The iteration algorithm utilizes the unit quaternions to represent the rotations. Then the result is optimized with Kalman filter. Considering the real-time and accuracy of the pose measurement, a fast feature extraction algorithm including object location, edge detection and corner detection is adopted to get the corners in high precision. The experiments and results verify the effectiveness of the proposed method.

关 键 词：pose measurement perspective-n-point （ PnP） unit quaternion Kalman filter feature extraction 

分 类 号：TP391.41[自动化与计算机技术—计算机应用技术]