### Abstract

In this paper, an accurate long-distance position measurement system using laser range finders (LRFs) is proposed. The system uses cylindrical objects, and can be used for surveys in construction fields. Given data from the LRF are nothing more than the contours of the objects. Therefore, this research aims to estimate accurate center positions of the objects by applying the least square method or the maximum likelihood estimation to their contours based on the shape information of the objects. We adopted cylindrical shaped objects since a circle is invariant against rotation. 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. Additionally, we implemented a reflected beam intensity filter to compensate for a collapse of the contour's shape and a multiple times scanning algorithm to increase the number of data points belonging to the contour.

Original language | English |
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Title of host publication | Proceedings of SICE Annual Conference 2010, SICE 2010 - Final Program and Papers |

Publisher | Society of Instrument and Control Engineers (SICE) |

Pages | 291-296 |

Number of pages | 6 |

ISBN (Print) | 9784907764364 |

Publication status | Published - 2010 |

### Publication series

Name | Proceedings of the SICE Annual Conference |
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### Keywords

- Circle fitting
- Laser range finder
- Least square method
- Maximum likelihood estimation
- Newton-Raphson method
- Position measurement system

### ASJC Scopus subject areas

- Control and Systems Engineering
- Computer Science Applications
- Electrical and Electronic Engineering

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## Cite this

*Proceedings of SICE Annual Conference 2010, SICE 2010 - Final Program and Papers*(pp. 291-296). [5602017] (Proceedings of the SICE Annual Conference). Society of Instrument and Control Engineers (SICE).