NDLI: Determination of rigid-body pose from imprecise point position measurements

Content Provider	IEEE Xplore Digital Library
Author	Tegopoulou, A. Papadopoulos, E.
Copyright Year	2011
Description	Author affiliation: Department of Mechanical Engineering, National Technical University of Athens, Greece (Tegopoulou, A.; Papadopoulos, E.)
Abstract	The determination of a rigid-body position and orientation from the position of a number of its points is one of the fundamental problems in kinematics. This problem arises in robotics, biomechanics, automatic guided vehicles, real-time control of space structures, etc. Under ideal conditions, it is possible to apply classical methods to find a body's position and orientation. However, in the presence of noise, these methods yield results that are unreliable and inconsistent. Two existing and a new method for determining position and orientation from noisy point coordinate data are presented. The theoretical analysis of the methods combined with an extensive simulation process led to conclusions about their behavior in different situations. The proposed method yields better orientation estimates than the other two methods, yielding reliable results both for absolute and relative position measurements and for low and high noise levels.
Starting Page	2922
Ending Page	2927
File Size	1555014
Page Count	6
File Format	PDF
ISBN	9781612844541
ISSN	21530858
e-ISBN	9781612844565
DOI	10.1109/IROS.2011.6094816
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-09-25
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Vectors Position measurement Noise measurement Kinematics Coordinate measuring machines Noise Statistical analysis rigid body pose estimation Body coordinates from point coordinates rigid body motion
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications Computer Vision and Pattern Recognition Software

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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