Position measurement system for cylindrical objects using laser range finder

Hajime Tamura, Takeshi Sasaki, Hideki Hashimoto, Fumihiro Inoue

研究成果: Conference contribution

5 被引用数 (Scopus)


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.

ホスト出版物のタイトルProceedings of SICE Annual Conference 2010, SICE 2010 - Final Program and Papers
出版社Society of Instrument and Control Engineers (SICE)
出版ステータスPublished - 2010


名前Proceedings of the SICE Annual Conference

ASJC Scopus subject areas

  • 制御およびシステム工学
  • コンピュータ サイエンスの応用
  • 電子工学および電気工学


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