Developing Accurate Long Distance 6-DOF Motion Detection with 1-D Laser Sensors: Three-Beam Detection System

Kim, Young-Keun; Kim, Yonghun; Jung, Young-Seok; Jang, In Gwun; Kim, Kyung-Soo; Kim, Soohyun; Kwak, Byung Man

doi:10.1109/tie.2012.2200225

Cited by 29 publications

(25 citation statements)

References 20 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…It is obvious that our method can be easily extended to measure targets of different shapes, such as planes [3,4,5], spheroids and paraboloids, just by replacing the geometric function of the target Equation (17). …”

Section: Measurement Algorithm Descriptionmentioning

confidence: 99%

“…Measurement for non-cooperative targets is the precondition of assembling and capturing tasks, which has received attention in various areas, such as autonomous robotics [1,2], marine transportation [3,4,5] and aerospace [6,7]. Non-cooperative targets refer to those objects that cannot provide effective cooperation information; their structure, size and motion information are completely or partly unknown [8].…”

Section: Introductionmentioning

confidence: 99%

“…Oh et al [26] proposed a novel localization approach based on a hybrid method incorporating a 2D laser scanner and a monocular camera in the framework of a graph structure-based SLAM. Representatively, a non-contact six-DOF pose sensor system with three 1D laser sensors and a camera was developed to track the dynamic motions of a cargo ship [3,4,5]. This system can accurately measure a six-DOF pose from a distance by tracking feature points of the object.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

An Accurate Non-Cooperative Method for Measuring Textureless Spherical Target Based on Calibrated Lasers

Wang¹,

Dong²,

Chen³

et al. 2016

Sensors

View full text Add to dashboard Cite

Strong demands for accurate non-cooperative target measurement have been arising recently for the tasks of assembling and capturing. Spherical objects are one of the most common targets in these applications. However, the performance of the traditional vision-based reconstruction method was limited for practical use when handling poorly-textured targets. In this paper, we propose a novel multi-sensor fusion system for measuring and reconstructing textureless non-cooperative spherical targets. Our system consists of four simple lasers and a visual camera. This paper presents a complete framework of estimating the geometric parameters of textureless spherical targets: (1) an approach to calibrate the extrinsic parameters between a camera and simple lasers; and (2) a method to reconstruct the 3D position of the laser spots on the target surface and achieve the refined results via an optimized scheme. The experiment results show that our proposed calibration method can obtain a fine calibration result, which is comparable to the state-of-the-art LRF-based methods, and our calibrated system can estimate the geometric parameters with high accuracy in real time.

show abstract

Section: Measurement Algorithm Descriptionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

An Accurate Non-Cooperative Method for Measuring Textureless Spherical Target Based on Calibrated Lasers

Wang¹,

Dong²,

Chen³

et al. 2016

Sensors

View full text Add to dashboard Cite

show abstract

“…P OSITION and orientation measurements are required in many fields of engineering, like motion analysis in sport or medical diagnosis [1], [2], robot control [3], and analysis of mechanical structures [4]. One of the aims of the measurement is to determine the position of a specific point of a body in the 2-D plane or 3-D space relative to a fixed coordinate system or relative to the initial position.…”

Section: Introductionmentioning

confidence: 99%

Analysis of the Distortion of Marker-Based Optical Position Measurement as a Function of Exposure Time

Dabóczi

2016

IEEE Trans. Instrum. Meas.

View full text Add to dashboard Cite

Marker-based optical position measurement is investigated in this paper. If the exposure time is not very short, it might cause the blur of the marker on the image if fast movement needs to be recorded. This paper investigates the effect of blur on the center point estimate and provides a measure for the distortion to help adjust camera parameters (exposure time, aperture, and ISO sensitivity) in the case of poor lighting conditions. The distortion of the center point estimate is derived as a function of movement of the marker. It is shown that the distortion can be well modeled as integral mean of the marker center. Its distortion can be calculated, and either kept on a limited level by appropriate setting of camera parameters (measure of error is derived) or numerically compensated (inverse filtered). Simulation and measurement examples show the usefulness of the correction.

show abstract

“…In our previous work, 26 a novel long-range motion sensor system was proposed to calculate 6-DOF motions of a remote target without singularity and information on the initial position of the target. This sensor system is referred as the threebeam detector and is composed of three laser distance sensors and a camera.…”

Section: Introductionmentioning

confidence: 99%

Design improvement of the three-beam detector towards a precise long-range 6-degree of freedom motion sensor system

Kim

Jang

Kim

et al. 2014

Review of Scientific Instruments

View full text Add to dashboard Cite

This paper presents performance enhancement of the three beam detector through design improvement based on the error analysis. The three-beam detector is a novel sensor system that measures six motions (i.e., 3 translations and 3 rotations) of a remote object with high accuracy by implementing three laser distance sensors and a vision sensor. In this paper, finite element analysis and parameter analysis are applied to the three-beam detector to analyze its structural frames and sensor configuration, respectively, in terms of sensing error. By virtue of such a systematic, quantitative error analysis, this research has successfully improved the performance of the three-beam detector and thoroughly validated through field tests that it can detect the 6-degree of freedom motions of a remote target at 30 m with an accuracy of 1.51 mm and 0.18° and precision of 0.38 mm and 0.13°.

show abstract

Developing Accurate Long Distance 6-DOF Motion Detection with 1-D Laser Sensors: Three-Beam Detection System

Cited by 29 publications

References 20 publications

An Accurate Non-Cooperative Method for Measuring Textureless Spherical Target Based on Calibrated Lasers

An Accurate Non-Cooperative Method for Measuring Textureless Spherical Target Based on Calibrated Lasers

Analysis of the Distortion of Marker-Based Optical Position Measurement as a Function of Exposure Time

Design improvement of the three-beam detector towards a precise long-range 6-degree of freedom motion sensor system

Contact Info

Product

Resources

About