Accession Number:

ADA281199

Title:

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

Descriptive Note:

Corporate Author:

CARNEGIE-MELLON UNIV PITTSBURGH PA DEPT OF COMPUTER SCIENCE

Personal Author(s):

Report Date:

1994-05-10

Pagination or Media Count:

26.0

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.

Subject Categories:

  • Cybernetics
  • Optical Detection and Detectors

Distribution Statement:

APPROVED FOR PUBLIC RELEASE