Object localization using crossbeam sensing

A localization technique using reliable, highly accurate, robust, inexpensive light beam sensors designed for mechanical assembly and manufacturing is presented. The technique involves passing polyhedral objects through a set of crossed beams and storing the positions when any beam is broken or reconnects. The geometrical constraints simplify the correspondence problem, so that it is solvable in linear time or can be solved using a precomputed hash table. The global minimum least-squared error pose is computed exactly using methods from algebra and numerical analysis. The limitations of this technique result from the beam sensor´s limitations