Model-driven pose correction

Abstract

Pose determination for robot navigation is discussed. The problem is to maintain the system's instantaneous precept of its position and orientation in space for performing various tasks. The authors describe a system in which models were used to guide the sensory interpretation and to correct expectations. In this system, simulated images were used to analyze the real images and to correct the pose parameters. The reported techniques have been implemented and experiments with real images in a real environment have been performed.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>