Finding the Optimal Pose of 2D LLT Sensors to Improve Object Pose Estimation

In this paper, we examine a method for improving pose estimation by correctly positioning the sensors relative to the scanned object. Three objects made of different materials and using different manufacturing technologies were selected for the experiment. To collect input data for orientation estim...
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Autor*in:	Dominik Heczko [verfasserIn] Petr Oščádal [verfasserIn] Tomáš Kot [verfasserIn] Adam Boleslavský [verfasserIn] Václav Krys [verfasserIn] Jan Bém [verfasserIn] Ivan Virgala [verfasserIn] Zdenko Bobovský [verfasserIn]

Format:	E-Artikel
Sprache:	Englisch

Erschienen:	2022

Schlagwörter:	orientation estimation laser scanning LLT sensor virtual scanning optimal configuration optimal pose

Übergeordnetes Werk:	In: Sensors - MDPI AG, 2003, 22(2022), 4, p 1536
Übergeordnetes Werk:	volume:22 ; year:2022 ; number:4, p 1536

Links:	Link aufrufen Link aufrufen Link aufrufen Journal toc

DOI / URN:	10.3390/s22041536

Katalog-ID:	DOAJ085265039

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650		4	\|a orientation estimation
650		4	\|a laser scanning
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650		4	\|a virtual scanning
650		4	\|a optimal configuration
650		4	\|a optimal pose
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allfields	10.3390/s22041536 doi (DE-627)DOAJ085265039 (DE-599)DOAJ57b7f47deecb4da79b880c23bac2a2f9 DE-627 ger DE-627 rakwb eng TP1-1185 Dominik Heczko verfasserin aut Finding the Optimal Pose of 2D LLT Sensors to Improve Object Pose Estimation 2022 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier In this paper, we examine a method for improving pose estimation by correctly positioning the sensors relative to the scanned object. Three objects made of different materials and using different manufacturing technologies were selected for the experiment. To collect input data for orientation estimation, a simulation environment was created where each object was scanned at different poses. A simulation model of the laser line triangulation sensor was created for scanning, and the optical surface properties of the scanned objects were set to simulate real scanning conditions. The simulation was verified on a real system using the UR10e robot to rotate and move the object. The presented results show that the simulation matches the real measurements and that the appropriate placement of the sensors has improved the orientation estimation. orientation estimation laser scanning LLT sensor virtual scanning optimal configuration optimal pose Chemical technology Petr Oščádal verfasserin aut Tomáš Kot verfasserin aut Adam Boleslavský verfasserin aut Václav Krys verfasserin aut Jan Bém verfasserin aut Ivan Virgala verfasserin aut Zdenko Bobovský verfasserin aut In Sensors MDPI AG, 2003 22(2022), 4, p 1536 (DE-627)331640910 (DE-600)2052857-7 14248220 nnns volume:22 year:2022 number:4, p 1536 https://doi.org/10.3390/s22041536 kostenfrei https://doaj.org/article/57b7f47deecb4da79b880c23bac2a2f9 kostenfrei https://www.mdpi.com/1424-8220/22/4/1536 kostenfrei https://doaj.org/toc/1424-8220 Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_206 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2005 GBV_ILN_2009 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2055 GBV_ILN_2057 GBV_ILN_2111 GBV_ILN_2507 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 22 2022 4, p 1536
spelling	10.3390/s22041536 doi (DE-627)DOAJ085265039 (DE-599)DOAJ57b7f47deecb4da79b880c23bac2a2f9 DE-627 ger DE-627 rakwb eng TP1-1185 Dominik Heczko verfasserin aut Finding the Optimal Pose of 2D LLT Sensors to Improve Object Pose Estimation 2022 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier In this paper, we examine a method for improving pose estimation by correctly positioning the sensors relative to the scanned object. Three objects made of different materials and using different manufacturing technologies were selected for the experiment. To collect input data for orientation estimation, a simulation environment was created where each object was scanned at different poses. A simulation model of the laser line triangulation sensor was created for scanning, and the optical surface properties of the scanned objects were set to simulate real scanning conditions. The simulation was verified on a real system using the UR10e robot to rotate and move the object. The presented results show that the simulation matches the real measurements and that the appropriate placement of the sensors has improved the orientation estimation. orientation estimation laser scanning LLT sensor virtual scanning optimal configuration optimal pose Chemical technology Petr Oščádal verfasserin aut Tomáš Kot verfasserin aut Adam Boleslavský verfasserin aut Václav Krys verfasserin aut Jan Bém verfasserin aut Ivan Virgala verfasserin aut Zdenko Bobovský verfasserin aut In Sensors MDPI AG, 2003 22(2022), 4, p 1536 (DE-627)331640910 (DE-600)2052857-7 14248220 nnns volume:22 year:2022 number:4, p 1536 https://doi.org/10.3390/s22041536 kostenfrei https://doaj.org/article/57b7f47deecb4da79b880c23bac2a2f9 kostenfrei https://www.mdpi.com/1424-8220/22/4/1536 kostenfrei https://doaj.org/toc/1424-8220 Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_206 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2005 GBV_ILN_2009 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2055 GBV_ILN_2057 GBV_ILN_2111 GBV_ILN_2507 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 22 2022 4, p 1536
allfields_unstemmed	10.3390/s22041536 doi (DE-627)DOAJ085265039 (DE-599)DOAJ57b7f47deecb4da79b880c23bac2a2f9 DE-627 ger DE-627 rakwb eng TP1-1185 Dominik Heczko verfasserin aut Finding the Optimal Pose of 2D LLT Sensors to Improve Object Pose Estimation 2022 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier In this paper, we examine a method for improving pose estimation by correctly positioning the sensors relative to the scanned object. Three objects made of different materials and using different manufacturing technologies were selected for the experiment. To collect input data for orientation estimation, a simulation environment was created where each object was scanned at different poses. A simulation model of the laser line triangulation sensor was created for scanning, and the optical surface properties of the scanned objects were set to simulate real scanning conditions. The simulation was verified on a real system using the UR10e robot to rotate and move the object. The presented results show that the simulation matches the real measurements and that the appropriate placement of the sensors has improved the orientation estimation. orientation estimation laser scanning LLT sensor virtual scanning optimal configuration optimal pose Chemical technology Petr Oščádal verfasserin aut Tomáš Kot verfasserin aut Adam Boleslavský verfasserin aut Václav Krys verfasserin aut Jan Bém verfasserin aut Ivan Virgala verfasserin aut Zdenko Bobovský verfasserin aut In Sensors MDPI AG, 2003 22(2022), 4, p 1536 (DE-627)331640910 (DE-600)2052857-7 14248220 nnns volume:22 year:2022 number:4, p 1536 https://doi.org/10.3390/s22041536 kostenfrei https://doaj.org/article/57b7f47deecb4da79b880c23bac2a2f9 kostenfrei https://www.mdpi.com/1424-8220/22/4/1536 kostenfrei https://doaj.org/toc/1424-8220 Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_206 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2005 GBV_ILN_2009 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2055 GBV_ILN_2057 GBV_ILN_2111 GBV_ILN_2507 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 22 2022 4, p 1536
allfieldsGer	10.3390/s22041536 doi (DE-627)DOAJ085265039 (DE-599)DOAJ57b7f47deecb4da79b880c23bac2a2f9 DE-627 ger DE-627 rakwb eng TP1-1185 Dominik Heczko verfasserin aut Finding the Optimal Pose of 2D LLT Sensors to Improve Object Pose Estimation 2022 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier In this paper, we examine a method for improving pose estimation by correctly positioning the sensors relative to the scanned object. Three objects made of different materials and using different manufacturing technologies were selected for the experiment. To collect input data for orientation estimation, a simulation environment was created where each object was scanned at different poses. A simulation model of the laser line triangulation sensor was created for scanning, and the optical surface properties of the scanned objects were set to simulate real scanning conditions. The simulation was verified on a real system using the UR10e robot to rotate and move the object. The presented results show that the simulation matches the real measurements and that the appropriate placement of the sensors has improved the orientation estimation. orientation estimation laser scanning LLT sensor virtual scanning optimal configuration optimal pose Chemical technology Petr Oščádal verfasserin aut Tomáš Kot verfasserin aut Adam Boleslavský verfasserin aut Václav Krys verfasserin aut Jan Bém verfasserin aut Ivan Virgala verfasserin aut Zdenko Bobovský verfasserin aut In Sensors MDPI AG, 2003 22(2022), 4, p 1536 (DE-627)331640910 (DE-600)2052857-7 14248220 nnns volume:22 year:2022 number:4, p 1536 https://doi.org/10.3390/s22041536 kostenfrei https://doaj.org/article/57b7f47deecb4da79b880c23bac2a2f9 kostenfrei https://www.mdpi.com/1424-8220/22/4/1536 kostenfrei https://doaj.org/toc/1424-8220 Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_206 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2005 GBV_ILN_2009 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2055 GBV_ILN_2057 GBV_ILN_2111 GBV_ILN_2507 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 22 2022 4, p 1536
allfieldsSound	10.3390/s22041536 doi (DE-627)DOAJ085265039 (DE-599)DOAJ57b7f47deecb4da79b880c23bac2a2f9 DE-627 ger DE-627 rakwb eng TP1-1185 Dominik Heczko verfasserin aut Finding the Optimal Pose of 2D LLT Sensors to Improve Object Pose Estimation 2022 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier In this paper, we examine a method for improving pose estimation by correctly positioning the sensors relative to the scanned object. Three objects made of different materials and using different manufacturing technologies were selected for the experiment. To collect input data for orientation estimation, a simulation environment was created where each object was scanned at different poses. A simulation model of the laser line triangulation sensor was created for scanning, and the optical surface properties of the scanned objects were set to simulate real scanning conditions. The simulation was verified on a real system using the UR10e robot to rotate and move the object. The presented results show that the simulation matches the real measurements and that the appropriate placement of the sensors has improved the orientation estimation. orientation estimation laser scanning LLT sensor virtual scanning optimal configuration optimal pose Chemical technology Petr Oščádal verfasserin aut Tomáš Kot verfasserin aut Adam Boleslavský verfasserin aut Václav Krys verfasserin aut Jan Bém verfasserin aut Ivan Virgala verfasserin aut Zdenko Bobovský verfasserin aut In Sensors MDPI AG, 2003 22(2022), 4, p 1536 (DE-627)331640910 (DE-600)2052857-7 14248220 nnns volume:22 year:2022 number:4, p 1536 https://doi.org/10.3390/s22041536 kostenfrei https://doaj.org/article/57b7f47deecb4da79b880c23bac2a2f9 kostenfrei https://www.mdpi.com/1424-8220/22/4/1536 kostenfrei https://doaj.org/toc/1424-8220 Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_206 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2005 GBV_ILN_2009 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2055 GBV_ILN_2057 GBV_ILN_2111 GBV_ILN_2507 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 22 2022 4, p 1536
language	English
source	In Sensors 22(2022), 4, p 1536 volume:22 year:2022 number:4, p 1536
sourceStr	In Sensors 22(2022), 4, p 1536 volume:22 year:2022 number:4, p 1536
format_phy_str_mv	Article
institution	findex.gbv.de
topic_facet	orientation estimation laser scanning LLT sensor virtual scanning optimal configuration optimal pose Chemical technology
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authorswithroles_txt_mv	Dominik Heczko @@aut@@ Petr Oščádal @@aut@@ Tomáš Kot @@aut@@ Adam Boleslavský @@aut@@ Václav Krys @@aut@@ Jan Bém @@aut@@ Ivan Virgala @@aut@@ Zdenko Bobovský @@aut@@
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callnumber-first	T - Technology
author	Dominik Heczko
spellingShingle	Dominik Heczko misc TP1-1185 misc orientation estimation misc laser scanning misc LLT sensor misc virtual scanning misc optimal configuration misc optimal pose misc Chemical technology Finding the Optimal Pose of 2D LLT Sensors to Improve Object Pose Estimation
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topic_title	TP1-1185 Finding the Optimal Pose of 2D LLT Sensors to Improve Object Pose Estimation orientation estimation laser scanning LLT sensor virtual scanning optimal configuration optimal pose
topic	misc TP1-1185 misc orientation estimation misc laser scanning misc LLT sensor misc virtual scanning misc optimal configuration misc optimal pose misc Chemical technology
topic_unstemmed	misc TP1-1185 misc orientation estimation misc laser scanning misc LLT sensor misc virtual scanning misc optimal configuration misc optimal pose misc Chemical technology
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title_sort	finding the optimal pose of 2d llt sensors to improve object pose estimation
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title_auth	Finding the Optimal Pose of 2D LLT Sensors to Improve Object Pose Estimation
abstract	In this paper, we examine a method for improving pose estimation by correctly positioning the sensors relative to the scanned object. Three objects made of different materials and using different manufacturing technologies were selected for the experiment. To collect input data for orientation estimation, a simulation environment was created where each object was scanned at different poses. A simulation model of the laser line triangulation sensor was created for scanning, and the optical surface properties of the scanned objects were set to simulate real scanning conditions. The simulation was verified on a real system using the UR10e robot to rotate and move the object. The presented results show that the simulation matches the real measurements and that the appropriate placement of the sensors has improved the orientation estimation.
abstractGer	In this paper, we examine a method for improving pose estimation by correctly positioning the sensors relative to the scanned object. Three objects made of different materials and using different manufacturing technologies were selected for the experiment. To collect input data for orientation estimation, a simulation environment was created where each object was scanned at different poses. A simulation model of the laser line triangulation sensor was created for scanning, and the optical surface properties of the scanned objects were set to simulate real scanning conditions. The simulation was verified on a real system using the UR10e robot to rotate and move the object. The presented results show that the simulation matches the real measurements and that the appropriate placement of the sensors has improved the orientation estimation.
abstract_unstemmed	In this paper, we examine a method for improving pose estimation by correctly positioning the sensors relative to the scanned object. Three objects made of different materials and using different manufacturing technologies were selected for the experiment. To collect input data for orientation estimation, a simulation environment was created where each object was scanned at different poses. A simulation model of the laser line triangulation sensor was created for scanning, and the optical surface properties of the scanned objects were set to simulate real scanning conditions. The simulation was verified on a real system using the UR10e robot to rotate and move the object. The presented results show that the simulation matches the real measurements and that the appropriate placement of the sensors has improved the orientation estimation.
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title_short	Finding the Optimal Pose of 2D LLT Sensors to Improve Object Pose Estimation
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