Pose Estimation Using Redundant Measurements and Polar-decomposition Filtering

10.6567/IFToMM.14TH.WC.FA.020

Xiao He；Jorge Angeles；Jozsef Kövecses

rigid-body pose estimation ； polar-decomposition theorem ； pose-data acquisition ； binocular camera

Proceedings of the 14th IFToMM World Congress

14th-4（2015 / 11 / 04）

38 - 42

英文

Rigid-body pose estimation is a recurrent problem that arises in many application areas, such as robotics, rehabilitation and assembly. As such, the problem has been the subject of intensive research, and it still is. The motivation behind the procedure reported here is the calibration of a spherical parallel manipulator, the Agile Wrist, intended to be used as the pitch-roll-yaw joystick of a haptic device. The procedure is based on redundant measurements, to filter measurement noise, and polardecomposition filtering, to extract the orthogonal factor of a still-noisy estimate. The measurement system is a binocular camera. The reported results show an acceptable performance of both the data-acquisition system and the computational procedure.