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Particle Filter Framework for 6D Seam Tracking Under Large External Forces Using 2D Laser Sensors

Bagge Carlson, Fredrik LU ; Karlsson, Martin LU ; Robertsson, Anders LU and Johansson, Rolf LU (2016) 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) In 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems
Abstract
We provide a framework for 6 DOF pose estimation in seam-tracking applications using particle filtering. The particle filter algorithm developed incorporates measurements from both a 2 DOF laser seam tracker and the robot forward kinematics under an assumed external force. Special attention is paid to modeling of disturbances in the respective measurements, and methods are developed to assist the selection of sensor configurations for optimal estimation performance. The developed estimation algorithm and simulation environment are provided as an open-source, extendable package, written with an intended balance between readability and performance.
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author
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
in press
subject
in
2016 IEEE/RSJ International Conference on Intelligent Robots and Systems
publisher
IEEE--Institute of Electrical and Electronics Engineers Inc.
conference name
2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
language
English
LU publication?
yes
id
95b40e43-06df-4c0b-9b97-266b05208891
date added to LUP
2016-09-14 11:40:10
date last changed
2016-09-14 12:15:56
@misc{95b40e43-06df-4c0b-9b97-266b05208891,
  abstract     = { We provide a framework for 6 DOF pose estimation in seam-tracking applications using particle filtering. The particle filter algorithm developed incorporates measurements from both a 2 DOF laser seam tracker and the robot forward kinematics under an assumed external force. Special attention is paid to modeling of disturbances in the respective measurements, and methods are developed to assist the selection of sensor configurations for optimal estimation performance. The developed estimation algorithm and simulation environment are provided as an open-source, extendable package, written with an intended balance between readability and performance.},
  author       = {Bagge Carlson, Fredrik and Karlsson, Martin and Robertsson, Anders and Johansson, Rolf},
  language     = {eng},
  month        = {10},
  publisher    = {ARRAY(0x7683940)},
  series       = {2016 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  title        = {Particle Filter Framework for 6D Seam Tracking Under Large External Forces Using 2D Laser Sensors},
  year         = {2016},
}