3D relative position and orientation estimation using Kalman filter for robot control

A vision-based position sensing system which provides three-dimensional relative position and orientation (pose) of an arbitrary moving object with respect to a camera for a real-time tracking control is studied. Kalman filtering was applied to vision measurements for the implicit solution of the photogrametric equations and to provide significant temporal filtering of the resulting motion parameters resulting in optimal pose estimation. Both computer simulation and real-time experimental results are presented to verify the effectiveness of the Kalman filter approach with large vision measurement noise.>