Algorithm of 6-DOF motion detection of curved surface object based on laser distance sensors

This paper proposes a generalized algorithm of detecting six-degree-of-freedom (6-DOF) motions of an object with unknown surface curvature. The proposed system is a 6-DOF motion detection system for long distance range based on low cost laser distance sensors and a vision sensor. This does not require prior information on the geometric configurations of the feature points nor the surface curvature of the object. Simulations are conducted to validate the proposed algorithm on a regularly curved object.