Visual Motion Tracking with Full Adaptive Extended Kalman Filter: an Experimental Study ⋆
نویسندگان
چکیده
An algorithm for real-time estimation of the pose of a moving object of known geometry is considered. The algorithm is based on a discrete-time Extended Kalman Filter which computes the object pose on the basis of visual measurements of the object features. The robustness of the algorithm with respect to measurement noise and modelling errors is improved by considering a full adaptive version of the Extended Kalman Filter. A complete experimental study is presented to test the performance and feasibility of the approach. Copyright c © 2005 IFAC.
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