Uncertainty in Object Pose Determination with Three Light-Stripe RangeMeasurements

摘要

The pose (position and orientation) of a polyhedral object can be determined withsparse range data obtained from simple light-stripe range finders. However, the sensing data inherently contains some error which introduces uncertainty in the determination of the object's pose. This paper presents a method for estimating the uncertainty in determining the pose of an object when using several light-stripe range finders. Three dimensional line segments obtained by the range finders are matched to model faces based on an interpretation tree search. The object pose is obtained by a least squares fit of the segment-face pairings. We show that the uncertainty in the position of the object can be estimated using the covariance matrix of the endpoint positions of the sensed line segments. Experiments with three light-stripe range finders show that our method makes it possible to estimate how accurately the pose of an object can be determined.