An object locating method with uncertainties applied to an ultrasonic multi-sensor system

Research output: Contribution to journalArticleScientificpeer-review

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 languageEnglish
Pages (from-to)134 - 140
Number of pages7
JournalJournal of Robotics and Mechatronics
Volume5
Issue number2
DOIs
Publication statusPublished - 1993
MoE publication typeA1 Journal article-refereed

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Sensor data fusion
Ultrasonics
Ultrasonic measurement
Distance measurement
Uncertainty

Cite this

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title = "An object locating method with uncertainties applied to an ultrasonic multi-sensor system",
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.",
author = "Tapio Heikkil{\"a} and Markku J{\"a}rviluoma",
year = "1993",
doi = "10.20965/jrm.1993.p0134",
language = "English",
volume = "5",
pages = "134 -- 140",
journal = "Journal of Robotics and Mechatronics",
issn = "0915-3942",
publisher = "Fuji Technology Press",
number = "2",

}

An object locating method with uncertainties applied to an ultrasonic multi-sensor system. / Heikkilä, Tapio; Järviluoma, Markku.

In: Journal of Robotics and Mechatronics, Vol. 5, No. 2, 1993, p. 134 - 140.

Research output: Contribution to journalArticleScientificpeer-review

TY - JOUR

T1 - An object locating method with uncertainties applied to an ultrasonic multi-sensor system

AU - Heikkilä, Tapio

AU - Järviluoma, Markku

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AB - 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.

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DO - 10.20965/jrm.1993.p0134

M3 - Article

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EP - 140

JO - Journal of Robotics and Mechatronics

JF - Journal of Robotics and Mechatronics

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