| Title | Pose Estimation from Minimal Dual-Receiver Configurations |
| Authors | Simon Burgess, Yubin Kuang, Karl Åström |
| Full-text | Available as PDF, Restricted Access |
| Publication | 21st International Conference on Pattern Recognition (ICPR 2012), Proceedings of |
| Year | 2012 |
| Pages | 2553 - 2556 |
| Document type | Conference paper |
| Conference name | 21st International Conference on Pattern Recognition (ICPR 2012) |
| Conference Date | 2012-11-11/2012-11-15 |
| Conference Location | Tsukuba, Japan |
| Status | Published |
| Quality controlled | Yes |
| Language | eng |
| Publisher | International Association for Pattern Recognition (IAPR) & IEEE |
| Abstract English | Using multiple receivers (microphones or antennas) in<br> a rigid configuration, such as on a smartphone, it is<br> possible to measure time difference of arrival to the receivers.<br> This in turn can be used to determine the direction<br> to the transmissions, if there are at least three<br> receivers. When using two receivers it can be used<br> to determine the angle to the transmissions relative to<br> the line through the two receivers. In this paper we<br> study three minimal problems for pose using such data:<br> (i) determine position and orientation using five transmissions,<br> (ii) determine position and orientation using<br> four transmissions and known ’down’ direction and<br> (iii) determine position using three transmissions and<br> known orientation. Numerically stable solvers are implemented.<br> An experimental validation of the solvers<br> are performed on simulated data |
| Keywords | Pose estimation, Time-Difference-Of-Arrival, minimal problems, |
| ISBN/ISSN/Other | ISBN: 978-4-9906441-1-6 |
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