Michael J. Tribou

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— This paper presents an observability analysis of the relative pose estimation process used in a planar Position-Based Visual Servoing or visual Simultaneous Localization and Mapping system. The results indicate potentially problematic situations where an estimator may be unable to track the relative pose and target object model based on monocular camera(More)
An analysis of the relative motion and point feature model configurations leading to solution degeneracy is presented, for the case of a Simultaneous Localization and Mapping system using multicamera clusters with non-overlapping fields-of-view. The SLAM optimization system seeks to minimize image space reprojection error and is formulated for a cluster(More)
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