Least squares approach to odometry based on multiple optical mouse sensors

Ping Lin Wu*, Shyr Long Jeng, Wei-Hua Chieng

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

5 Scopus citations

Abstract

This work describes an optical measuring device that comprises multiple laser mouse sensors to estimate 3-DOF planar motion. The linear least squares (LLS) method and nonlinear least squares (NLS) method are adopted to estimate the positions in this over-determined system. Two circular trajectories - non-orientated and self-orientated - are employed to evaluate the feasibility of the proposed device. The results are presented and validated by simulations and experimentally. For a circular trajectory with self-orientation, the estimated positions of device determined using the NLS method are associated with apparently smaller positional errors than those calculated using the LLS method. The noise at the sensor outputs has a large impact on the estimate of position. The analysis is essential to examining the error sources and increasing the accuracy of odometric measurement.

Original languageEnglish
Title of host publicationProceedings of the 2010 5th IEEE Conference on Industrial Electronics and Applications, ICIEA 2010
Pages1573-1578
Number of pages6
DOIs
StatePublished - 1 Sep 2010
Event5th IEEE Conference on Industrial Electronics and Applications, ICIEA 2010 - Taichung, Taiwan
Duration: 15 Jun 201017 Jun 2010

Publication series

NameProceedings of the 2010 5th IEEE Conference on Industrial Electronics and Applications, ICIEA 2010

Conference

Conference5th IEEE Conference on Industrial Electronics and Applications, ICIEA 2010
Country/TerritoryTaiwan
CityTaichung
Period15/06/1017/06/10

Keywords

  • Mobile robotics
  • Odometry
  • Sensors

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