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TitleA kalman filter for validate points and areas of constant depth in the acquisition of the profiles surfaces
Author(s)Fonseca, Jaime C.
Martins, Júlio S.
Couto, Carlos
KeywordsKalman filter
Profile surface
Ultrassonic sensors
Issue date6-Nov-2005
JournalIEEE Open Journal of the Industrial Electronics Society
CitationANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY, 31, Raleight, North Carolina, 2005 – “IECON 2005 : proceedings”. [S.l.]: Garard Enterprises, Inc., [2005]. ISBN 0-7803-9253-1. p. 2005-2010.
Abstract(s)This paper presents multisensor fusion techniques for the acquisition of the profile of surfaces with minimum error using low cost ultrasonic sensors. These surfaces are composed by areas with different depths, corners and specular surfaces. To minimize the constraints of sonar sensors, it was developed dedicated software and hardware, as well as an empirical model was obtained from real data. This model is based in two proposed concepts: Points of Constant Depth (PCD) and Areas of Constant Depth (ACD). Having this sonar model in mind, four sensor fusion techniques are used separately to validate the PCDs and decide the ACDs: average and variance, a simplified kalman filter and heuristic method based in rules. In this work a PUMA 560 manipulator was equipped with a CCD video camera and four ultrasonic sensors on the wrist, to acquire data for internally representation of the geometry of the part’s surface, exploiting the mobility of the robot. The CCD camera defines the working area while the ultrasonic sensors enable the acquisition of the surface profile.
TypeConference paper
AccessOpen access
Appears in Collections:CAlg - Artigos em livros de atas/Papers in proceedings
DEI - Artigos em atas de congressos internacionais

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