Finding the Optimal Pose of 2D LLT Sensors to Improve Object Pose Estimation

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

Finding the Optimal Pose of 2D LLT Sensors to Improve Object Pose Estimation

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

Finding the Optimal Pose of 2D LLT Sensors to Improve Object Pose Estimation

Popis výsledku anglicky

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.

Druh

J_imp - Článek v periodiku v databázi Web of Science

CEP obor

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OECD FORD obor

20301 - Mechanical engineering

Projekt

<a href="/cs/project/EF17_049%2F0008425" target="_blank" >EF17_049/0008425: Platforma pro výzkum orientovaný na Průmysl 4.0 a robotiku v ostravské aglomeraci</a><br>

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)<br>S - Specificky vyzkum na vysokych skolach

Rok uplatnění

2022

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název periodika

Sensors

ISSN

1424-3210

e-ISSN

1424-8220

Svazek periodika

22

Číslo periodika v rámci svazku

4

Stát vydavatele periodika

CH - Švýcarská konfederace

Počet stran výsledku

18

Strana od-do

nestrankovano

Kód UT WoS článku

000775436200001

EID výsledku v databázi Scopus

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