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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 orcid (2016) 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) p.3728-3734
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.
Please use this url to cite or link to this publication:
author
; ; and
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
host publication
2016 IEEE/RSJ International Conference on Intelligent Robots and Systems
pages
7 pages
publisher
IEEE - Institute of Electrical and Electronics Engineers Inc.
conference name
2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
conference location
Daejeon, Korea, Republic of
conference dates
2016-10-09 - 2016-10-14
external identifiers
  • scopus:85006511735
ISBN
978-1-5090-3762-9
DOI
10.1109/IROS.2016.7759549
project
Flexifab
RobotLab LTH
language
English
LU publication?
yes
id
95b40e43-06df-4c0b-9b97-266b05208891
date added to LUP
2016-09-14 11:40:10
date last changed
2024-03-07 11:58:24
@inproceedings{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}},
  booktitle    = {{2016 IEEE/RSJ International Conference on Intelligent Robots and Systems}},
  isbn         = {{978-1-5090-3762-9}},
  language     = {{eng}},
  month        = {{10}},
  pages        = {{3728--3734}},
  publisher    = {{IEEE - Institute of Electrical and Electronics Engineers Inc.}},
  title        = {{Particle Filter Framework for 6D Seam Tracking Under Large External Forces Using 2D Laser Sensors}},
  url          = {{https://lup.lub.lu.se/search/files/12204979/seamTrackingPaper.pdf}},
  doi          = {{10.1109/IROS.2016.7759549}},
  year         = {{2016}},
}