Filtering Method for Pose Angles Based on CS-STF-IMM
In order to decrease the error of pose estimation based on image sequences, a filtering method for pose angles based on CS-STF-IMM was proposed. Firstly, current statistical (CS) model was used to establish state space model of pose transformation, which reflects the maneuver of target pose more truly. Then, strong tracking filter (STF) was introduced to overcome the shortcoming that Kalman filter can hardly track sudden maneuver. A parameters determination method based on least square fitting was proposed, which improves the performance of STF further. Based on these, CS-STF-IMM algorithm was established, which obviously improved the precision of pose estimation. Simulations showed that the proposed method has better overall performance, which is a feasible scheme for pose angles filtering.
pose filtering current statistical model strong tracking filter IMM
JI Bing SHAN Ganlin
Optical and Electronic Eng., Mechanical Eng. College No.97, Hepingxilu Rd.,Shijiazhuang 050003, PR China
国际会议
沈阳
英文
1271-1277
2011-11-22（万方平台首次上网日期，不代表论文的发表时间）