An estimation algorithm for 3-D pose measurement using redundant ultrasonic sensors /
Accurutely and economically measuring the 3-D position ics.
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| Format: | Thesis eBook |
| Language: | English |
| Published: |
[Place of publication not identified] :
[publisher not identified] ;
1998.
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| Subjects: | |
| Online Access: | Link to OAKTrust copy |
| Summary: | Accurutely and economically measuring the 3-D position ics. algorithm for a redundant sensor triangulation scheme Although ultrasonic sensors are simulated, the design and orientation (3-D Pose) of an object has many applications for automated equipment. Traditionally, applications. are used to produce a general design method that based on the accuracy of the individual instruments. based on the expected errors from ultrasonic range but expensive sensing equipment to attain range could be modeled with a stochastic distribution, a determines the necessary number of redundant sensors equipment. As such, the concepts, developed in this errors introduced into the system. These simulations estimation algorithm to accurately determine the 3-D fit, could be used to provide a more accurate answer Further computer simulations verify the ability of the further, the geometry of the triangulation scheme makes the error characteristics of the 3-D pose maximum likelihood estimator, such as a least-square measurement different than each individual range measurement equipment. Computer simulations are used measurement. If the pose by including expected errors measurements and develop the estimation algorithm. measurements. This thesis provides an estimation measuring instruments to triangulate an accurate 3-D method is not limited by the type of range measurement more sensors than are necessary for a single 3-D pose pose of an object by varying the magnitude and type of research has shown promise using less precise precise than any single 3-D pose measurement. Unfortunately, the range measurements will include biased errors', thesis, have the potential to be applied to similar this may require the desired accuracy. Previous to characterize the data distribution of redundant |
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| Item Description: | "Major subject: Mechanical Engineering". Vita. |
| Physical Description: | viii, 66 leaves : illustrations ; 28 cm. Also available online. |
| Bibliography: | Includes bibliographical references (leaves ). |