Search results for "3d sensor"
showing 5 items of 5 documents
Dynamic Augmented Kalman Filtering for Human Motion Tracking under Occlusion Using Multiple 3D Sensors
2020
In this paper real-time human motion tracking using multiple 3D sensors has been demonstrated in a relatively large industrial robot work cell. The proposed solution extends state-of-the-art by augmenting the constant velocity model and Kalman filter with low-pass filtered velocity states. The presented method is able to handle occlusions by dynamically inclusion in the Kalman filter of only those 3D sensors which provide valid human position data. Human motion tracking was achieved at a frame rate of 20 Hz, with a typical delay of 50 ms to 100 ms and an estimation accuracy of typically 0.10 m to 0.15 m.
Automatic Calibration of an Industrial RGB-D Camera Network Using Retroreflective Fiducial Markers
2019
This paper describes a non-invasive, automatic, and robust method for calibrating a scalable RGB-D sensor network based on retroreflective ArUco markers and the iterative closest point (ICP) scheme. We demonstrate the system by calibrating a sensor network comprised of six sensor nodes positioned in a relatively large industrial robot cell with an approximate size of 10 m × 10 m × 4 m . Here, the automatic calibration achieved an average Euclidean error of 3 c m at distances up to 9.45 m . To achieve robustness, we apply several innovative techniques: Firstly, we mitigate the ambiguity problem that occurs when detecting a marker at long range or low resolution by comparing the…
Vertikaalihypyn korkeuden arviointi 3D-kiihtyvyysanturilla ja lajinomaisen kuormituksen vaikutukset hyppyyn
2016
Sensoreihin perustuvat menetelmät ovat yleistyneet urheilutestauksessa viime vuosina. Tarkoituksena oli selvittää hyppääjän kenkään kiinnitettävään 3D-kiihtyvyysanturiin perustuvan menetelmän validiteettia vertikaalihypyn korkeuden arvioinnissa. Voimalevyn lentoaikamenetelmää käytettiin kiihtyvyysanturimenetelmän validiteettianalyysissä ja lajikohtaisten kuormitusasetelman vertikaalihypyt arvioitiin kiihtyvyysanturimenetelmällä. Hyppysarjojen korkeimmat hypyt arvioitiin lisäksi voimalevyn lähtönopeusmenetelmällä. Kiihtyvyysanturimenetelmässä käytettiin urheilijan kenkään kiinnitettävää The Stride Sensor Bluetooth® Smart (Polar Electro Oy, Kempele, Suomi) -sensoria. Hyppytestit suoritettiin …
GPU-Based Optimisation of 3D Sensor Placement Considering Redundancy, Range and Field of View
2020
This paper presents a novel and efficient solution for the 3D sensor placement problem based on GPU programming and massive parallelisation. Compared to prior art using gradient-search and mixed-integer based approaches, the method presented in this paper returns optimal or good results in a fraction of the time compared to previous approaches. The presented method allows for redundancy, i.e. requiring selected sub-volumes to be covered by at least n sensors. The presented results are for 3D sensors which have a visible volume represented by cones, but the method can easily be extended to work with sensors having other range and field of view shapes, such as 2D cameras and lidars.
Embedded Processing and Compression of 3D Sensor Data for Large Scale Industrial Environments
2019
This paper presents a scalable embedded solution for processing and transferring 3D point cloud data. Sensors based on the time-of-flight principle generate data which are processed on a local embedded computer and compressed using an octree-based scheme. The compressed data is transferred to a central node where the individual point clouds from several nodes are decompressed and filtered based on a novel method for generating intensity values for sensors which do not natively produce such a value. The paper presents experimental results from a relatively large industrial robot cell with an approximate size of 10 m ×