Fast incremental least square pose estimation for hardware implementation with rolling shutter camera

Name: Fast incremental least square pose estimation for hardware implementation with rolling shutter camera
Author: Güzel, Aydın Emre, Hisar, Dilara, Claesen, L., Uğurdağ, Hasan Fatih

İsim	Fast incremental least square pose estimation for hardware implementation with rolling shutter camera
Yazar	Güzel, Aydın Emre, Hisar, Dilara, Claesen, L., Uğurdağ, Hasan Fatih
Basım Tarihi:	2020-10-05
Basım Yeri	- IEEE
Konu	Incremental algorithms, Least squares optimizations, Pose estimation
Tür	Belge
Dil	İngilizce
Dijital	Evet
Yazma	Hayır
Kütüphane:	Özyeğin Üniversitesi
Demirbaş Numarası	978-1-7281-7206-4
Kayıt Numarası	f17fb732-2fb5-4841-9283-d2dc934d3aa3
Lokasyon	Electrical & Electronics Engineering
Tarih	2020-10-05
Örnek Metin	6 DoF position and orientation estimation is vital for many real-time applications. It is essential to meet low latency, high accuracy and reliability requirements, especially when used for real-time haptic feedback calculation in medical applications. Considering the low latency requirement, designing dedicated hardware promises significant improvements relative to running software on the processor. In our jaw surgery application, we aim to calculate the pose of the rigid object with the tracked marker from the rolling shutter camera by exploiting parallelism and pipe-lining concepts under 1 millisecond latency without sacrificing accuracy on field programmable gate arrays (FPGA) to flow from the camera with rolling shutter effect. Therefore, the iterative least squared algorithm, which is used with high precision in the current applications, has been given an incremental shape to react within the same frame according to the instantaneous data. The algorithm was evaluated by testing with different parameters over the software with synthetically produced fixed and rolling shutter effect images.
DOI	10.1109/SIU49456.2020.9302192

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Fast incremental least square pose estimation for hardware implementation with rolling shutter camera

Yazar Güzel, Aydın Emre, Hisar, Dilara, Claesen, L., Uğurdağ, Hasan Fatih

Basım Tarihi 2020-10-05

Basım Yeri - IEEE

Konu Incremental algorithms, Least squares optimizations, Pose estimation

Tür Belge

Dil İngilizce

Dijital Evet

Yazma Hayır

Kütüphane Özyeğin Üniversitesi

Demirbaş Numarası 978-1-7281-7206-4

Kayıt Numarası f17fb732-2fb5-4841-9283-d2dc934d3aa3

Lokasyon Electrical & Electronics Engineering

Tarih 2020-10-05

Örnek Metin 6 DoF position and orientation estimation is vital for many real-time applications. It is essential to meet low latency, high accuracy and reliability requirements, especially when used for real-time haptic feedback calculation in medical applications. Considering the low latency requirement, designing dedicated hardware promises significant improvements relative to running software on the processor. In our jaw surgery application, we aim to calculate the pose of the rigid object with the tracked marker from the rolling shutter camera by exploiting parallelism and pipe-lining concepts under 1 millisecond latency without sacrificing accuracy on field programmable gate arrays (FPGA) to flow from the camera with rolling shutter effect. Therefore, the iterative least squared algorithm, which is used with high precision in the current applications, has been given an incremental shape to react within the same frame according to the instantaneous data. The algorithm was evaluated by testing with different parameters over the software with synthetically produced fixed and rolling shutter effect images.

DOI 10.1109/SIU49456.2020.9302192