Circle detection and fitting based positioning system using laser range finder

Xiangqi Huang, Takeshi Sasaki, Hideki Hashimoto, Fumihiro Inoue

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Citations (Scopus)

Abstract

In this paper, based on circle detection and fitting, an accurate long-distance positioning system using laser range finders (LRFs), is proposed. To utilize orientation-invariant property of the circle, a cylinder shaped bar is chosen as the reference target of the positioning system. After obtaining the arc shaped contour of the cylindrical target scanned from LRF, given the prior information of the radius of cylindrical target, implementing maximum likelihood estimation (MLE) for circle fitting, an accurate position of the circle center can be determined. Because the reference target is not the only object in the application scene, we have to extract the target from other parts of the scanned data from LRF. Inspired by random sample consensus (RANSAC) and Hough Transform, a modified RANSAC algorithm of detection of cylindrical reference target for positioning system is proposed. Additionally, to improve the angular resolution of LRF, a pan unit is applied in the system. Experiment results prove the feasibility of the proposed positioning system.

Original languageEnglish
Title of host publication2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings
Pages442-447
Number of pages6
DOIs
Publication statusPublished - 2010
Externally publishedYes
Event3rd International Symposium on System Integration, SII 2010 - Sendai, Japan
Duration: 2010 Dec 212010 Dec 22

Other

Other3rd International Symposium on System Integration, SII 2010
CountryJapan
CitySendai
Period10/12/2110/12/22

Fingerprint

Range finders
Lasers
Hough transforms
Maximum likelihood estimation
Experiments

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Huang, X., Sasaki, T., Hashimoto, H., & Inoue, F. (2010). Circle detection and fitting based positioning system using laser range finder. In 2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings (pp. 442-447). [5708366] https://doi.org/10.1109/SII.2010.5708366

Circle detection and fitting based positioning system using laser range finder. / Huang, Xiangqi; Sasaki, Takeshi; Hashimoto, Hideki; Inoue, Fumihiro.

2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings. 2010. p. 442-447 5708366.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Huang, X, Sasaki, T, Hashimoto, H & Inoue, F 2010, Circle detection and fitting based positioning system using laser range finder. in 2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings., 5708366, pp. 442-447, 3rd International Symposium on System Integration, SII 2010, Sendai, Japan, 10/12/21. https://doi.org/10.1109/SII.2010.5708366
Huang X, Sasaki T, Hashimoto H, Inoue F. Circle detection and fitting based positioning system using laser range finder. In 2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings. 2010. p. 442-447. 5708366 https://doi.org/10.1109/SII.2010.5708366
Huang, Xiangqi ; Sasaki, Takeshi ; Hashimoto, Hideki ; Inoue, Fumihiro. / Circle detection and fitting based positioning system using laser range finder. 2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings. 2010. pp. 442-447
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