Determination of rigid-body pose from imprecise point position measurements

Tegopoulou, A; Papadopoulos, E

dc.contributor.author	Tegopoulou, A	en
dc.contributor.author	Papadopoulos, E	en
dc.date.accessioned	2014-03-01T02:47:20Z
dc.date.available	2014-03-01T02:47:20Z
dc.date.issued	2011	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/33081
dc.subject	Body coordinates from point coordinates	en
dc.subject	rigid body motion	en
dc.subject	rigid body pose estimation	en
dc.subject.other	Automatic guided vehicle	en
dc.subject.other	Classical methods	en
dc.subject.other	Extensive simulations	en
dc.subject.other	Fundamental problem	en
dc.subject.other	High noise levels	en
dc.subject.other	Noisy point	en
dc.subject.other	Point coordinates	en
dc.subject.other	Relative position measurement	en
dc.subject.other	Rigid body	en
dc.subject.other	Rigid-body motion	en
dc.subject.other	Space structure	en
dc.subject.other	Biomechanics	en
dc.subject.other	Intelligent robots	en
dc.subject.other	Position measurement	en
dc.subject.other	Real time control	en
dc.subject.other	Rigid structures	en
dc.subject.other	Robotics	en
dc.subject.other	Automobile bodies	en
dc.title	Determination of rigid-body pose from imprecise point position measurements	en
heal.type	conferenceItem	en
heal.identifier.primary	10.1109/IROS.2011.6048392	en
heal.identifier.secondary	http://dx.doi.org/10.1109/IROS.2011.6048392	en
heal.identifier.secondary	6048392	en
heal.publicationDate	2011	en
heal.abstract	The determination of a rigid-body position and orientation from the position of a number of its points is one of the fundamental problems in kinematics. This problem arises in robotics, biomechanics, automatic guided vehicles, real-time control of space structures, etc. Under ideal conditions, it is possible to apply classical methods to find a body's position and orientation. However, in the presence of noise, these methods yield results that are unreliable and inconsistent. Two existing and a new method for determining position and orientation from noisy point coordinate data are presented. The theoretical analysis of the methods combined with an extensive simulation process led to conclusions about their behavior in different situations. The proposed method yields better orientation estimates than the other two methods, yielding reliable results both for absolute and relative position measurements and for low and high noise levels. © 2011 IEEE.	en
heal.journalName	IEEE International Conference on Intelligent Robots and Systems	en
dc.identifier.doi	10.1109/IROS.2011.6048392	en
dc.identifier.spage	2922	en
dc.identifier.epage	2927	en