Sensor Placement Design for Object Pose Determination with Three Light- Stripe Range Finders
CARNEGIE-MELLON UNIV PITTSBURGH PA DEPT OF COMPUTER SCIENCE
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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.
- Optical Detection and Detectors