Range sensor pose estimation
Williams, I., Upcroft, B., Denman, A., Reid, A., & McAree, R (2009) Range sensor pose estimation. In Proceedings 2009 Australian Mining Technology Conference, Technology Solutions for Challenging Financial Times, CRC Mining, University of Queensland Business School Downtown, Brisbane, pp. 55-66.
This paper presents a method of recovering the 6 DoF pose (Cartesian position and angular rotation) of a range sensor mounted on a mobile platform. The method utilises point targets in a local scene and optimises over the error between their absolute position and their apparent position as observed by the range sensor. The analysis includes an investigation into the sensitivity and robustness of the method. Practical results were collected using a SICK LRS2100 mounted on a P&H electric mining shovel and present the errors in scan data relative to an independent 3D scan of the scene. A comparison to directly measuring the sensor pose is presented and shows the significant accuracy improvements in scene reconstruction using this pose estimation method.
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|Item Type:||Conference Paper|
|Keywords:||range sensor, mobile platform, Pose Estimation, SICK LRS2100, electric mining shovel|
|Subjects:||Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > RESOURCES ENGINEERING AND EXTRACTIVE METALLURGY (091400)
Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > RESOURCES ENGINEERING AND EXTRACTIVE METALLURGY (091400) > Mining Engineering (091405)
|Divisions:||Past > QUT Faculties & Divisions > Faculty of Built Environment and Engineering
Past > Schools > School of Engineering Systems
|Copyright Owner:||Copyright 2009 [please consult author]|
|Deposited On:||10 May 2011 23:37|
|Last Modified:||10 Aug 2011 18:20|
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