Planning of an active range sensor structure for pose estimation of 3-D regular objects

Abstract

In some 3-D object perception and pose estimation tasks an active range sensor structure is important for obtaining high accuracy results. In this paper an active triangulation photoelectric range sensor based on the electronic scanning of an integrated LED array is described and the sensor structure planning for pose estimation of 3-D regular objects is discussed. A simulation of the effect on the accuracy of a 3-D object's pose estimation of the location of the measured points on the object's surface constitute the background for the planning. Taking into consideration the results of the theoretical analysis, an approach to design the desired sensor for pose estimation of a certain set of objects is presented. The whole sensor structure planning process is illustrated with an example of pose estimation of cylindrical objects. Benefits of the approach presented to a certain class of pose estimation tasks, which are met in real industrial environments, include decreasing the costs of the range data acquisition hardware and the time consumed for range data reduction.