Abstract
The issue of locating objects through multiple sensory information is discussed. Sensor measurements are subject to limitations of sensor precision and accuracy. Although errors in position estimates are affected only by the errors of sensor measurements, errors in orientation estimates are also dependent on the dimensions over which the measurements have been made. The concept of good measurements is used in selecting and weighting partial estimates of the position and orientation. The problem of finding the best estimate of the position and orientation is formulated as a linear system of these multiple estimates. The best estimate is then obtained by solving this system in a weighted-least-square sense. This method has been implemented for a manipulator end-effector instrumented with centroid and matrix tactile sensors.
| Original language | English |
|---|---|
| Title of host publication | Unknown Host Publication Title |
| Publisher | Institute of Electrical and Electronics Engineers |
| Pages | 1623-1628 |
| Number of pages | 6 |
| ISBN (Print) | 0818606959 |
| State | Published - 1 Jan 1986 |
| Externally published | Yes |
ASJC Scopus subject areas
- General Engineering