Circle fitting based position measurement system using laser range finder in construction fields

Hajime Tamura, Takeshi Sasaki, Hideki Hashimoto, Fumihiro Inoue

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

11 Citations (Scopus)

Abstract

In this paper, an accurate long-distance position measurement system using laser range finders (LRFs), which can be used for surveys in construction fields is proposed. Since the LRF is a sensor which can measure distance to surfaces of objects by radiating laser beams from itself and receiving the reflected ones, data obtained from the LRF are nothing more than the contours of objects. For this reason, we adopted cylindrical shaped objects since the contour, a circular arc, is invariant against rotation. Therefore, this research aims to fit circles to the arc-shaped contours of the cylindrical objects and estimate their accurate center positions by applying the least square method and maximum likelihood estimation. If we know the radius of the cylindrical object in advance, the aforementioned two methods become non-linear problems. For this reason, we applied the Newton-Raphson method to solve these non-linear equations. We improve the angular resolution of the LRF by using a pan unit, and reveal that the maximum likelihood estimation can give us the most accurate center position. Additionally, we implemented proposed position measurement system in an actual construction field.

Original languageEnglish
Title of host publicationIEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
Pages209-214
Number of pages6
DOIs
Publication statusPublished - 2010
Event23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Taipei, Taiwan, Province of China
Duration: 2010 Oct 182010 Oct 22

Publication series

NameIEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings

Other

Other23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010
CountryTaiwan, Province of China
CityTaipei
Period10/10/1810/10/22

ASJC Scopus subject areas

  • Artificial Intelligence
  • Human-Computer Interaction
  • Control and Systems Engineering

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    Tamura, H., Sasaki, T., Hashimoto, H., & Inoue, F. (2010). Circle fitting based position measurement system using laser range finder in construction fields. In IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings (pp. 209-214). [5649211] (IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings). https://doi.org/10.1109/IROS.2010.5649211