Pose Estimation from Minimal Dual-Receiver Configurations
Burgess, Simon; Kuang, Yubin; Åström, Karl (2012). Pose Estimation from Minimal Dual-Receiver Configurations 21st International Conference on Pattern Recognition (ICPR 2012), Proceedings of, 2553 - 2556. 21st International Conference on Pattern Recognition (ICPR 2012). Tsukuba, Japan: IEEE - Institute of Electrical and Electronics Engineers Inc.
Conference Proceeding/Paper
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Published
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English
Authors:
Burgess, Simon
;
Kuang, Yubin
;
Åström, Karl
Department:
Mathematics (Faculty of Engineering)
Centre for Mathematical Sciences
Mathematical Imaging Group
ELLIIT: the Linköping-Lund initiative on IT and mobile communication
Research Group:
Mathematical Imaging Group
Abstract:
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
Keywords:
Pose estimation ;
Time-Difference-Of-Arrival ;
minimal problems
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