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3D model-based robot tracking with a PF and one catadioptric camera.

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Uploaded by on Aug 13, 2008

In this experiment we track the position of a robot, using particle filters and a catadioptric omnidirectional camera as sensor.
The model of the object consists in a 3D shape model, a color model and a motion model.
In the video you can see the projection onto the image of the estimated robot contour.
For a plot of the object's trajectory and other demos please see:
http://users.isr.ist.utl.pt/~mtajana/demos.html
For the technical papers where we describe this work, please see:
http://users.isr.ist.utl.pt/~mtajana/publications.html

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