Motion and shape parameters identification with vision and range

In this paper, in order to get the better identification of motion and shape parameters of a plane dynamics, we apply the laser range finder data with vision using both a single laser range finder and a single CCD camera mounted on a mobile robot platform. The laser range finder makes a line on the moving plane along a horizontal laser plane. Namely, the laser range finder observes a cross section of the plane as a line. We use this time-varying line information for motion and shape parameter identification problems and show that when we use the laser range finder data with vision as the observation data the dimension of the parameter ambiguity in the only vision case can be reduced