NDLI: Structural Optimization of a Novel 6-DOF Pose Sensor System for Enhancing Noise Robustness at a Long Distance

Content Provider	IEEE Xplore Digital Library
Author	Young-Keun Kim In Gwun Jang Yonghun Kim Kyung-Soo Kim Soohyun Kim
Copyright Year	1982
Abstract	In this paper, structural optimization of a sensor fusion system is newly presented to minimize noise sensitivity, thus maximizing the noise robustness in measuring 6-degree-of-freedom (6-DOF) poses of an object at a long distance with higher precision. The target sensor system, the so-called three-beam detector, is composed of three 1-D laser sensors and a vision camera. During the nonlinear computation, 6-DOF poses can be affected by sensor noises along with sensor configuration. Design parameters such as alignment angles, width, and height of the laser sensors are optimized in the sensor configuration that can minimize an objective function of the 6-DOF pose errors due to the sensor noise. To show sensing performance against the sensor noises, the sensing precision of the optimally configured system is compared with that of the parallel configuration system through numerical simulations and experiments. The proposed process of optimizing sensor configuration can be also applied to other sensor fusion systems to minimize the noise sensitivity.
Sponsorship	IEEE Industrial Electronics Society
Starting Page	5622
Ending Page	5631
Page Count	10
File Size	1807167
File Format	PDF
ISSN	02780046
Volume Number	61
Issue Number	10
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-01-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Measurement by laser beam Robot sensing systems Laser beams Detectors Optimization Laser noise 6-DOF pose sensor Laser scanner long-range sensor motion instrument pose measurement robust optimization sensor fusion 6-degree-of-freedom (6-DOF) motion
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Electrical and Electronic Engineering Computer Science Applications

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