A Portable and Remote 6-DOF Pose Sensor System With a Long Measurement Range Based on 1-D Laser Sensors
A Portable and Remote 6-DOF Pose Sensor System With a Long Measurement Range Based on 1-D Laser Sensors
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DOI：
10.1109/tie.2015.2410261
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发表时间：
2015-09-01
影响因子：
7.7
通讯作者：
Kim, Soohyun
中科院分区：
文献类型：
--
作者：
Kim, Young-Keun;Kim, Kyung-Soo;Kim, Soohyun
本文提出了一种基于激光一维传感器和摄像机的新型大范围非接触式六自由度位姿传感器系统。该系统是完全便携的，因为它不需要在目标上安装任何设备，并且可以在远距离测量亚毫米级精度的6自由度姿态。即使在目标物体的初始位姿或信息未知的情况下，该系统也可以计算出无奇异性的六自由度位姿。实验验证了所开发的传感器系统对30m外物体姿态检测的性能，精度分别为4 mm和0.5。和0.7毫米0.3度的高精度。
In this paper, we propose a novel noncontact 6-DOF pose sensor system with a long measurement range based on laser 1-D sensors and a camera. The proposed system is fully portable for it does not require any installation of a device on the target and can measure a 6-DOF pose within submillimeter level of accuracy from a long distance. This system can calculate 6-DOF poses without a singularity even when the initial pose or information about the target object is not available a priori. Experiments are conducted to validate the performance of the developed sensor system for detecting poses of an object from 30 m away with an accuracy of 4 mm and 0.5. and a high precision of 0.7 mm and 0.3 degrees.