Exploiting the Trifocal Tensor in Dynamic Pose Estimation for Visual Control

@article{Becerra2013ExploitingTT,
  title={Exploiting the Trifocal Tensor in Dynamic Pose Estimation for Visual Control},
  author={H{\'e}ctor M. Becerra and Carlos Sag{\"u}{\'e}s},
  journal={IEEE Transactions on Control Systems Technology},
  year={2013},
  volume={21},
  pages={1931-1939}
}
Image-based approaches for visual control are memoryless, and they depend on the information extracted from the image plane. We propose the use of dynamic pose estimation in the task of driving a mobile robot to a desired location specified by a target image. This approach reduces the dependence of the control on the quality of current visual data and facilitates the planning of complex tasks. The pose estimation exploits the 1-D trifocal tensor (TT) as measurement, which allows us to obtain a… CONTINUE READING

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