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Two-Dimensional Radial Laser Scanning for Circular Marker Detection and External Mobile Robot Tracking

This paper presents the use of an external fixed two-dimensional laser scanner to detect cylindrical targets attached to moving devices, such as a mobile robot. This proposal is based on the detection of circular markers in the raw data provided by the laser scanner by applying an algorithm for outl...

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Detalles Bibliográficos
Autores principales: Teixidó, Mercè, Pallejà, Tomàs, Font, Davinia, Tresanchez, Marcel, Moreno, Javier, Palacín, Jordi
Formato: Online Artículo Texto
Lenguaje:English
Publicado: Molecular Diversity Preservation International (MDPI) 2012
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC3571794/
https://www.ncbi.nlm.nih.gov/pubmed/23443390
http://dx.doi.org/10.3390/s121216482
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author Teixidó, Mercè
Pallejà, Tomàs
Font, Davinia
Tresanchez, Marcel
Moreno, Javier
Palacín, Jordi
author_facet Teixidó, Mercè
Pallejà, Tomàs
Font, Davinia
Tresanchez, Marcel
Moreno, Javier
Palacín, Jordi
author_sort Teixidó, Mercè
collection PubMed
description This paper presents the use of an external fixed two-dimensional laser scanner to detect cylindrical targets attached to moving devices, such as a mobile robot. This proposal is based on the detection of circular markers in the raw data provided by the laser scanner by applying an algorithm for outlier avoidance and a least-squares circular fitting. Some experiments have been developed to empirically validate the proposal with different cylindrical targets in order to estimate the location and tracking errors achieved, which are generally less than 20 mm in the area covered by the laser sensor. As a result of the validation experiments, several error maps have been obtained in order to give an estimate of the uncertainty of any location computed. This proposal has been validated with a medium-sized mobile robot with an attached cylindrical target (diameter 200 mm). The trajectory of the mobile robot was estimated with an average location error of less than 15 mm, and the real location error in each individual circular fitting was similar to the error estimated with the obtained error maps. The radial area covered in this validation experiment was up to 10 m, a value that depends on the radius of the cylindrical target and the radial density of the distance range points provided by the laser scanner but this area can be increased by combining the information of additional external laser scanners.
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spelling pubmed-35717942013-02-19 Two-Dimensional Radial Laser Scanning for Circular Marker Detection and External Mobile Robot Tracking Teixidó, Mercè Pallejà, Tomàs Font, Davinia Tresanchez, Marcel Moreno, Javier Palacín, Jordi Sensors (Basel) Article This paper presents the use of an external fixed two-dimensional laser scanner to detect cylindrical targets attached to moving devices, such as a mobile robot. This proposal is based on the detection of circular markers in the raw data provided by the laser scanner by applying an algorithm for outlier avoidance and a least-squares circular fitting. Some experiments have been developed to empirically validate the proposal with different cylindrical targets in order to estimate the location and tracking errors achieved, which are generally less than 20 mm in the area covered by the laser sensor. As a result of the validation experiments, several error maps have been obtained in order to give an estimate of the uncertainty of any location computed. This proposal has been validated with a medium-sized mobile robot with an attached cylindrical target (diameter 200 mm). The trajectory of the mobile robot was estimated with an average location error of less than 15 mm, and the real location error in each individual circular fitting was similar to the error estimated with the obtained error maps. The radial area covered in this validation experiment was up to 10 m, a value that depends on the radius of the cylindrical target and the radial density of the distance range points provided by the laser scanner but this area can be increased by combining the information of additional external laser scanners. Molecular Diversity Preservation International (MDPI) 2012-11-28 /pmc/articles/PMC3571794/ /pubmed/23443390 http://dx.doi.org/10.3390/s121216482 Text en © 2012 by the authors; licensee MDPI, Basel, Switzerland This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution license (http://creativecommons.org/licenses/by/3.0/).
spellingShingle Article
Teixidó, Mercè
Pallejà, Tomàs
Font, Davinia
Tresanchez, Marcel
Moreno, Javier
Palacín, Jordi
Two-Dimensional Radial Laser Scanning for Circular Marker Detection and External Mobile Robot Tracking
title Two-Dimensional Radial Laser Scanning for Circular Marker Detection and External Mobile Robot Tracking
title_full Two-Dimensional Radial Laser Scanning for Circular Marker Detection and External Mobile Robot Tracking
title_fullStr Two-Dimensional Radial Laser Scanning for Circular Marker Detection and External Mobile Robot Tracking
title_full_unstemmed Two-Dimensional Radial Laser Scanning for Circular Marker Detection and External Mobile Robot Tracking
title_short Two-Dimensional Radial Laser Scanning for Circular Marker Detection and External Mobile Robot Tracking
title_sort two-dimensional radial laser scanning for circular marker detection and external mobile robot tracking
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC3571794/
https://www.ncbi.nlm.nih.gov/pubmed/23443390
http://dx.doi.org/10.3390/s121216482
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