TY - GEN

T1 - Position measurement system for cylindrical objects using laser range finder

AU - Tamura, Hajime

AU - Sasaki, Takeshi

AU - Hashimoto, Hideki

AU - Inoue, Fumihiro

PY - 2010

Y1 - 2010

N2 - 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.

AB - 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.

KW - Circle fitting

KW - Laser range finder

KW - Least square method

KW - Maximum likelihood estimation

KW - Newton-Raphson method

KW - Position measurement system

UR - http://www.scopus.com/inward/record.url?scp=78649242691&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=78649242691&partnerID=8YFLogxK

M3 - Conference contribution

AN - SCOPUS:78649242691

SN - 9784907764364

T3 - Proceedings of the SICE Annual Conference

SP - 291

EP - 296

BT - Proceedings of SICE Annual Conference 2010, SICE 2010 - Final Program and Papers

PB - Society of Instrument and Control Engineers (SICE)

ER -