A Two-Level Particle Filter Approach to Range Estimation using an Eye-in-Hand Configured Single Camera

Z. Wang, D.-J. Kim, and A. Behal (USA)


Particle filter, Range estimation


For monocular visual systems, range (or depth) information is always crucial for target modeling and system control design. In this paper, a novel and effective method is developed to estimate the range information in perspective vision systems by observing the 2-D image information and known motion parameters. We have considered the presence of noise in the image space measurements and kinematic uncertainty in the motion parameters. Simulation and experiment results show the advantage of our algorithm in comparison with other approaches.

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