Range scanner motion estimation method and device

Details Range scanner motion estimation method and device Range scanner motion estimation method and device

G - Physics

01

C

G01C 3/00 (2006.01) G01B 11/24 (2006.01)

Patent

CA 2075070

RANGE SCANNER MOTION ESTIMATION METHOD AND DEVICE Inventor: Tonis KASVAND ABSTRACT A range scanner measures distances to surface elements in a scene. A list or an array of such distance (Z) readings is obtained from a range scanner. When a range scanner is moving, say, it is mounted onto a mobile robot, sequences of distance readings will comprise of the motion of the scanner and the motions of freely moving objects in scene being scanned. Range scanner motion may be estimated from transducers mounted, say, onto the mobile robot. Alternatively, the motion of the range scanner may be estimated from sequences of distance readings (Z) taken, minimally, at two different times t1 (giving Z1) and t2 (giving Z2). The method is characterized by a way of computing the six motion parameters form Z1 and Z2, etc., which represent the motion of the scanner only. The advantages are: The motion transducers are not needed, or if used, their readings can be checked and/or corrected. This enables, for example, a mobile robot with a range scanner to keep track of its motion and plan future moves.

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