Sensor Placement Design for Object Pose Determination with Three Light- Stripe Range Finders

Abstract

The pose of a polyhedral object can be determined with range data obtained from a set of simple light-stripe range sensors. However, localization results are highly dependent on sensor placement. This paper presents a method for designing an optimal sensor placement of three light-stripe sensors with which to determine the pose of an arbitrarily positioned object. We evaluate a sensor placement on the basis of average performance measures over the whole state space of object pose by a Monte Carlo method. An optimal sensor placement is then selected by another Monte Carlo method which searches for a maximal score function of the performance measures over the whole state of sensor placements.

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Document Details

Document Type
Technical Report
Publication Date
May 10, 1994
Accession Number
ADA281199

Entities

People

  • Keiichi Kemmotsu
  • Takeo Kanade

Organizations

  • Carnegie Mellon University

Tags

Communities of Interest

  • Sensors

DTIC Thesaurus Topics

  • Air Force
  • Computational Science
  • Computer Science
  • Computer Vision
  • Euler Angles
  • Information Science
  • Lasers
  • Light Sources
  • Monte Carlo Method
  • Object Recognition
  • Probabilistic Models
  • Probability
  • Probability Distributions
  • Range Finders
  • Recognition
  • Simulations
  • Three Dimensional

Readers

  • Applied Combinatorial Optimization and Logic Circuit Design.
  • Computational Modeling and Simulation
  • Computer Vision.

Technology Areas

  • Space
  • Space - Space Objects