BVE + EKF: A Viewpoint Estimator for the Estimation of the Object's Position in the 3D Task Space Using Extended Kalman Filters

Sandro Magalhães, Sandro Magalhães, António Moreira, António Moreira, Filipe Santos, Jorge Dias, Jorge Dias

2024

Abstract

RGB-D sensors face multiple challenges operating under open-field environments because of their sensitivity to external perturbations such as radiation or rain. Multiple works are approaching the challenge of perceiving the three-dimensional (3D) position of objects using monocular cameras. However, most of these works focus mainly on deep learning-based solutions, which are complex, data-driven, and difficult to predict. So, we aim to approach the problem of predicting the three-dimensional (3D) objects’ position using a Gaussian viewpoint estimator named best viewpoint estimator (BVE), powered by an extended Kalman filter (EKF). The algorithm proved efficient on the tasks and reached a maximum average Euclidean error of about 32 mm. The experiments were deployed and evaluated in MATLAB using artificial Gaussian noise. Future work aims to implement the system in a robotic system.

Paper Citation

in Harvard Style

Magalhães S., Moreira A., Santos F. and Dias J. (2024). BVE + EKF: A Viewpoint Estimator for the Estimation of the Object's Position in the 3D Task Space Using Extended Kalman Filters. In Proceedings of the 21st International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO; ISBN 978-989-758-717-7, SciTePress, pages 157-165. DOI: 10.5220/0012945800003822

in Bibtex Style

@conference{icinco24,
author={Sandro Magalhães and António Moreira and Filipe Santos and Jorge Dias},
title={BVE + EKF: A Viewpoint Estimator for the Estimation of the Object's Position in the 3D Task Space Using Extended Kalman Filters},
booktitle={Proceedings of the 21st International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO},
year={2024},
pages={157-165},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0012945800003822},
isbn={978-989-758-717-7},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 21st International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO
TI - BVE + EKF: A Viewpoint Estimator for the Estimation of the Object's Position in the 3D Task Space Using Extended Kalman Filters
SN - 978-989-758-717-7
AU - Magalhães S.
AU - Moreira A.
AU - Santos F.
AU - Dias J.
PY - 2024
SP - 157
EP - 165
DO - 10.5220/0012945800003822
PB - SciTePress