Abstract
This paper presents a kinetic-model based algorithm for estimating some unstabilized components in vehicular motion. In addition to smooth motion, there are unstabilized components such as bounce,.pitch and roll in vehicular motion. A two-wheel vehacle model available in the literature is used to take into account the bouncing and pitching components. The dynamics of these unstabilized components are formulated using standard equations of motion. Assuming that depth information is known for some landmarks in the scene(e.9. obtained from a laser range finder and inertial sensors such as accelerometers are avail able, a feature-based approach is proposed to estimate these unstabilized components. Simulation results for a stochastic terrain profile is presented.
| Original language | English (US) |
|---|---|
| Pages (from-to) | 641-644 |
| Number of pages | 4 |
| Journal | Proceedings - International Conference on Pattern Recognition |
| Volume | 1 |
| DOIs | |
| State | Published - 1994 |
| Externally published | Yes |
| Event | Proceedings of the 12th IAPR International Conference on Pattern Recognition. Part 1 (of 3) - Jerusalem, Isr Duration: Oct 9 1994 → Oct 13 1994 |
ASJC Scopus subject areas
- Computer Vision and Pattern Recognition