立方体和圆柱形物体的尺寸仅使用噪音和部分观察到的飞行时间数据
Bryan Rodriguez1, Prasanna Rangarajan1, Xinxiang Zhang1
1Department of Electrical and Computer Engineering, Lyle School of Engineering, Southern Methodist University, Dallas, TX 75205, USA.
Sensors (Basel, Switzerland)
|November 14, 2023
概括
这项研究使用超四边形拟合来改进对象尺寸与飞行时间 (ToF) 传感器,实现不到1厘米的错误立方体和圆柱体,尽管传感器的限制,如噪音和低分辨率.
科学领域:
- 机器人和自动化 机器人和自动化
- 计算机视觉 计算机视觉
- 计量学 计量学 计量学
背景情况:
- 飞行时间 (ToF) 传感器提供深度感应,但面临着像低分辨率,噪声和多路径干扰这样的挑战.
- 这些限制扭曲了对象的形状和尺寸,阻碍了准确的测量应用.
研究的目的:
- 使用ToF传感器数据,应用超方格配合框架来准确测量立方体和圆柱体物体的尺寸.
- 评估框架在各种对象定向,地面表面和安装技术上的性能.
主要方法:
- 利用了从ToF传感器生成的点云数据.
- 应用一个超四边形的配套框架来模型和尺寸立方体和圆柱体的物体.
- 研究了模拟模型的边界和镜像技术.
主要成果:
- 在距离1.5米的距离上,在30厘米 (立方体) 和20厘米 (圆柱体) 的物体中,达到的平均尺寸误差小于1厘米.
- 使用边界技术证明了立方体的绝对尺寸误差为4%-9%,水平圆柱体的误差为2.97%-6.61%.
- 展示了取决于方向的性能,垂直气显示出更高的误差 (8.01%-13.13%).
结论:
- 超四边形安装框架有效地克服了ToF传感器的局限性,用于准确的对象尺寸.
- 该方法在不同的物体形状,方向和表面条件中提供了可量化的准确性.
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