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JRM Vol.5 No.2 pp. 134-140
doi: 10.20965/jrm.1993.p0134
(1993)

Paper:

An Object Locating Method with Uncertainties Applied to an Ultrasonic Multi-Sensor System

Tapio Heikkilä, Markku Järviluoma*, and Osmo Voutilainen

Technical Research Centre of Finland Electronics Laboratory, P.O.Box 200, SF-90571 Oulu, Finland

*University of Oulu, Systems Engineering Laboratory, Linnanmaa, SF-90570 Oulu, Finland

Received:
June 7, 1992
Accepted:
December 2, 1992
Published:
April 20, 1993
Keywords:
Pose estimation, Multi-sensor fusion, Uncertainty estimation
Abstract

We present a model-based iterative algorithm for estimating the position and orientation of regular objects applied to multiple ultrasonic distance measurements. It is based on standard minimum error covariance estimation that minimizes the weighted square sum of the measures reflecting errors between the real and nominal objects. A discussion is also provided about the use of the variance/covariance estimate as a measure of uncertainty in designing the configuration of the ultra-sonic multi-sensor system.

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Last updated on Dec. 12, 2017