Circle detection and fitting based positioning system using laser range finder

Xiangqi Huang, Takeshi Sasaki, Hideki Hashimoto, Fumihiro Inoue

研究成果: Conference contribution

5 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトル2010 IEEE/SICE International Symposium on System Integration
ホスト出版物のサブタイトルSI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings
ページ442-447
ページ数6
DOI
出版ステータスPublished - 2010
外部発表はい
イベント3rd International Symposium on System Integration, SII 2010 - Sendai, Japan
継続期間: 2010 12 212010 12 22

出版物シリーズ

名前2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings

Other

Other3rd International Symposium on System Integration, SII 2010
国/地域Japan
CitySendai
Period10/12/2110/12/22

ASJC Scopus subject areas

  • 制御およびシステム工学

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