Finding the Optimal Pose of 2D LLT Sensors to Improve Object Pose Estimation
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F61989100%3A27230%2F22%3A10249734" target="_blank" >RIV/61989100:27230/22:10249734 - isvavai.cz</a>
Result on the web
<a href="https://www.mdpi.com/1424-8220/22/4/1536" target="_blank" >https://www.mdpi.com/1424-8220/22/4/1536</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.3390/s22041536" target="_blank" >10.3390/s22041536</a>
Alternative languages
Result language
angličtina
Original language name
Finding the Optimal Pose of 2D LLT Sensors to Improve Object Pose Estimation
Original language description
In this paper, we examine a method for improving pose estimation by correctly positioning the sensors relative to the scanned object. Three objects made of different materials and using different manufacturing technologies were selected for the experiment. To collect input data for orientation estimation, a simulation environment was created where each object was scanned at different poses. A simulation model of the laser line triangulation sensor was created for scanning, and the optical surface properties of the scanned objects were set to simulate real scanning conditions. The simulation was verified on a real system using the UR10e robot to rotate and move the object. The presented results show that the simulation matches the real measurements and that the appropriate placement of the sensors has improved the orientation estimation.
Czech name
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Czech description
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Classification
Type
J<sub>imp</sub> - Article in a specialist periodical, which is included in the Web of Science database
CEP classification
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OECD FORD branch
20301 - Mechanical engineering
Result continuities
Project
<a href="/en/project/EF17_049%2F0008425" target="_blank" >EF17_049/0008425: A Research Platform focused on Industry 4.0 and Robotics in Ostrava Agglomeration</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)<br>S - Specificky vyzkum na vysokych skolach
Others
Publication year
2022
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Name of the periodical
Sensors
ISSN
1424-3210
e-ISSN
1424-8220
Volume of the periodical
22
Issue of the periodical within the volume
4
Country of publishing house
CH - SWITZERLAND
Number of pages
18
Pages from-to
nestrankovano
UT code for WoS article
000775436200001
EID of the result in the Scopus database
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