Abstract
We present a model-based iterative algorithm for estimating the position and orientation of regular objects applied to multiple ultrasonic distance measurements. It is based on standard minimum error covariance estimation that minimizes the weighted square sum of the measures reflecting errors between the real and nominal objects. A discussion is also provided about the use of the variance/covariance estimate as a measure of uncertainty in designing the configuration of the ultra-sonic multi-sensor system.
| Original language | English |
|---|---|
| Pages (from-to) | 134 - 140 |
| Number of pages | 7 |
| Journal | Journal of Robotics and Mechatronics |
| Volume | 5 |
| Issue number | 2 |
| DOIs | |
| Publication status | Published - 1993 |
| MoE publication type | A1 Journal article-refereed |