| Lu Xiang (卢翔),Liu Jingtai,Yu Kaiyan,Li Yan,Sun Lei.[J].高技术通讯(英文),2014,20(2):131~139 |
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| Pose measurement using quaternion and Kalman filter |
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| DOI：10.3772/j.issn.1006-6748.2014.02.004 |
| 中文关键词: |
| 英文关键词: pose measurement, perspective-n-point (PnP), unit quaternion, Kalman filter, feature extraction |
| 基金项目: |
| Author Name | Affiliation | | Lu Xiang (卢翔) | | | Liu Jingtai | | | Yu Kaiyan | | | Li Yan | | | Sun Lei | |
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| 中文摘要: |
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| 英文摘要: |
| 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. |
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