Title :
Reliability of plane fitting by range sensing
Author :
Kanazawa, Yaaushi ; Kanatani, Keniclii
Author_Institution :
Dept. of Inf. & Comput. Eng., Gunma Coll. of Technol., Japan
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;
Conference_Titel :
Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on
Conference_Location :
Nagoya
Print_ISBN :
0-7803-1965-6
DOI :
10.1109/ROBOT.1995.525562
