Least squares approach to odometry based on multiple optical mouse sensors

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

*此作品的通信作者

研究成果: Conference contribution同行評審

5 引文 斯高帕斯(Scopus)

摘要

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.

原文English
主出版物標題Proceedings of the 2010 5th IEEE Conference on Industrial Electronics and Applications, ICIEA 2010
頁面1573-1578
頁數6
DOIs
出版狀態Published - 1 9月 2010
事件5th IEEE Conference on Industrial Electronics and Applications, ICIEA 2010 - Taichung, Taiwan
持續時間: 15 6月 201017 6月 2010

出版系列

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

Conference

Conference5th IEEE Conference on Industrial Electronics and Applications, ICIEA 2010
國家/地區Taiwan
城市Taichung
期間15/06/1017/06/10

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