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Pose And Motion Estimation From Vision Using Dual Quaternion-Based Extended Kalman Filtering (1997)  (Make Corrections)  
James Samuel Goddard



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Abstract: Determination of relative three-dimensional (3--D) position, orientation, and relative motion between two reference frames is an important problem in robotic guidance, manipulation, and assembly as well as in other fields such as photogrammetry. A solution to this problem that uses two-dimensional (2--D), intensity images from a single camera is desirable for real-time applications. Where the object geometry is unknown, the estimation of structure is also required. A single camera is... (Update)

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BibTeX entry:   (Update)

@phdthesis{ goddard-pose,
  author = "James Samuel Goddard",
  title = "Pose And Motion Estimation From Vision Using Dual Quaternion-Based Extended
    Kalman Filtering",
  year = "1997",
  url = "citeseer.ist.psu.edu/goddard97pose.html" }
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