Pose Estimation from Minimal Dual-Receiver Configurations
Author
Summary, in English
Using multiple receivers (microphones or antennas) in
a rigid configuration, such as on a smartphone, it is
possible to measure time difference of arrival to the receivers.
This in turn can be used to determine the direction
to the transmissions, if there are at least three
receivers. When using two receivers it can be used
to determine the angle to the transmissions relative to
the line through the two receivers. In this paper we
study three minimal problems for pose using such data:
(i) determine position and orientation using five transmissions,
(ii) determine position and orientation using
four transmissions and known ’down’ direction and
(iii) determine position using three transmissions and
known orientation. Numerically stable solvers are implemented.
An experimental validation of the solvers
are performed on simulated data
a rigid configuration, such as on a smartphone, it is
possible to measure time difference of arrival to the receivers.
This in turn can be used to determine the direction
to the transmissions, if there are at least three
receivers. When using two receivers it can be used
to determine the angle to the transmissions relative to
the line through the two receivers. In this paper we
study three minimal problems for pose using such data:
(i) determine position and orientation using five transmissions,
(ii) determine position and orientation using
four transmissions and known ’down’ direction and
(iii) determine position using three transmissions and
known orientation. Numerically stable solvers are implemented.
An experimental validation of the solvers
are performed on simulated data
Department/s
Publishing year
2012
Language
English
Pages
2553-2556
Publication/Series
21st International Conference on Pattern Recognition (ICPR 2012), Proceedings of
Document type
Conference paper
Publisher
IEEE - Institute of Electrical and Electronics Engineers Inc.
Topic
- Mathematics
Keywords
- Pose estimation
- Time-Difference-Of-Arrival
- minimal problems
Conference name
21st International Conference on Pattern Recognition (ICPR 2012)
Conference date
2012-11-11 - 2012-11-15
Conference place
Tsukuba, Japan
Status
Published
Research group
- Mathematical Imaging Group
ISBN/ISSN/Other
- ISBN: 978-4-9906441-1-6