レンジセンサによる平面までの距離および傾斜の計測における最適観測方策

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  • Optimal Observation Policy for Measurement of a Distance and an Inclination of a Plane Surface using a Range Sensor
  • レンジセンサ ニ ヨル ヘイメン マデ ノ キョリ オヨビ ケイシャ ノ ケイソク ニ オケル サイテキ カンソク ホウサク

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To measure a distance and an inclination of a plane surface, various methods applying image processing have been developed in the fields of robot vision and automatic measuring systems of a three dimensional shape. The methods, however, need a complex optical system composed of light pattern sources and TV cameras, and need an image processing with complex algorithm. In addition, the measuring environment frequently needs to be well-conditioned to get good image data having a large SN ratio. From these viewpoints, the paper adopt to scan an optical range sensor to gather distance data between the sensor and various points on the plane surface. In applications, however, the distance data often include not only the sensor noise but also the setting errors accompanied with the sensor when the scanning data are gathered. The paper thus considers an optimal observation policy for measuring a distance and an inclination of a plane surface from the viewpoint of minimax criterion since a strictly optimal observation policy varies with those quantities of unknown plane surface.

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