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Rigid-Body Pose and Twist Estimation Using Redundant Sensing

The problems of rigid-body pose-and-twist estimation are studied here for purposes of on-line implementation. Using the concept of measurement subspaces, we describe the conditions under which the sensing of joint variables of a set of simple open kinematic chains coupled to a common rigid body lead to linear measurement subspaces. Likewise, non-contact sensing by means of range finders or cameras can lead to the same subspaces, from which linear kinematic models are obtained. The pose and twist of a rigid body are then estimated by the fusion of these subspaces. A mounted-helmet display seen by a single, double or multiple-vision camera is used to show the effectiveness of the estimation procedure.
L. Baron, J. Angeles



Thierry Baron
Mon Nov 13 10:43:02 EST 1995