Particle Filter Framework for 6D Seam Tracking Under Large External Forces Using 2D Laser Sensors
(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:
https://lup.lub.lu.se/record/95b40e43-06df-4c0b-9b97-266b05208891
- author
- Bagge Carlson, Fredrik LU ; Karlsson, Martin LU ; Robertsson, Anders LU and Johansson, Rolf LU
- organization
- publishing date
- 2016-10-09
- 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}}, }