Sensor Placement Design for Object Pose Determination with Three Light-StripeRange Finders

摘要

The pose of a polyhedral object can be determined with range data obtained from aset of simple light-stripe range sensors. However, localization results are highly dependent on sensor placement. This paper presents a method for designing an optimal sensor placement of three light-stripe sensors with which to determine the pose of an arbitrarily positioned object. We evaluate a sensor placement on the basis of average performance measures over the whole state space of object pose by a Monte Carlo method. An optimal sensor placement is then selected by another Monte Carlo method which searches for a maximal score function of the performance measures over the whole state of sensor placements.