Planning of an active range sensor structure for pose estimation of 3-D regular objects

Janusz A. Marszalec; Markku Jarviluoma; Tapio A. Heikkila

doi:10.1117/12.135094

1 March 1992 Planning of an active range sensor structure for pose estimation of 3-D regular objects

Janusz A. Marszalec, Markku Jarviluoma, Tapio A. Heikkila

Proceedings Volume 1608, Intelligent Robots and Computer Vision X: Neural, Biological, and 3-D Methods; (1992) https://doi.org/10.1117/12.135094
Event: Robotics '91, 1991, Boston, MA, United States

Abstract

In some 3-D object perception and pose estimation tasks an active range sensor structure is important for obtaining high accuracy results. In this paper an active triangulation photoelectric range sensor based on the electronic scanning of an integrated LED array is described and the sensor structure planning for pose estimation of 3-D regular objects is discussed. A simulation of the effect on the accuracy of a 3-D object's pose estimation of the location of the measured points on the object's surface constitute the background for the planning. Taking into consideration the results of the theoretical analysis, an approach to design the desired sensor for pose estimation of a certain set of objects is presented. The whole sensor structure planning process is illustrated with an example of pose estimation of cylindrical objects. Benefits of the approach presented to a certain class of pose estimation tasks, which are met in real industrial environments, include decreasing the costs of the range data acquisition hardware and the time consumed for range data reduction.

Citation Download Citation

Janusz A. Marszalec, Markku Jarviluoma, and Tapio A. Heikkila "Planning of an active range sensor structure for pose estimation of 3-D regular objects", Proc. SPIE 1608, Intelligent Robots and Computer Vision X: Neural, Biological, and 3-D Methods, (1 March 1992); https://doi.org/10.1117/12.135094

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available