Reliability of plane fitting by range sensing

Author

Kanazawa, Yaaushi ; Kanatani, Keniclii

Author_Institution

Dept. of Inf. & Comput. Eng., Gunma Coll. of Technol., Japan

Volume

2

fYear

1995

fDate

21-27 May 1995

Firstpage

2037

Abstract

A mathematical model is given for the statistical error characteristics of range sensing, and a numerical scheme called “renormalization” is presented for optimally fitting a planar surface to data points obtained by range sensing. The renormalization method has the advantage that not only an optimal fit is computed but also its reliability is automatically evaluated in the form of the covariance matrix of the optimal fit. A scheme for visualizing the reliability of computation is presented by means of the “primary deviation pair”, and its effectiveness is demonstrated by numerical simulation

Keywords

covariance matrices; curve fitting; distance measurement; error statistics; mobile robots; optimisation; path planning; renormalisation; sensors; covariance matrix; data points; mathematical model; mobile robot; optimal fit; plane fitting; range sensing; reliability; renormalization; statistical error characteristics; Covariance matrix; Data visualization; Mathematical model; Noise robustness; Robot sensing systems; Robot vision systems; Robotics and automation; Stereo vision; Surface fitting; Surface reconstruction;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on

Conference_Location

Nagoya

ISSN

1050-4729

Print_ISBN

0-7803-1965-6

Type

conf

DOI

10.1109/ROBOT.1995.525562

Filename

525562