Using Optical Projection in Close-range Photogrammetry for 6DOF Sensor Positioning
A novel, low cost, non-contact, six degrees of freedom (DOF) measurement technique is proposed that enables real-time measurement of a small lightweight module’s location. Straight forward applications of the proposed technique include robot calibration by installing the module
to the end effector of a robot arm, and head-tracking in a typical virtual reality environment by attaching the module to a human head. The technique is based on a combination of photogrammetry and optical pattern projection. The module generates an optical pattern that is observable on the
surrounding walls, and photogrammetry is used to measure the absolute coordinates of features in the projected optical pattern with respect to a defined global coordinate system. By combining these absolute coordinates with the known angular information of the optical projection beams, a minimization
algorithm can be used to extract the absolute coordinates and angular orientation of the module itself. Experimental agreement of 1 to 5 parts in 103 was obtained by translating the module over 0.9 m and by rotating it through 60°. Numerical simulations were conducted to demonstrate
that optimum design of the projected pattern gives a lower associated measurement uncertainty than is possible by direct photogrammetric measurement with traditional tie points. This paper documents the proof of principle and describes how the measurement can be further improved.
Document Type: Research Article
Publication date: 01 January 2013
- The official journal of the American Society for Photogrammetry and Remote Sensing - the Imaging and Geospatial Information Society (ASPRS). This highly respected publication covers all facets of photogrammetry and remote sensing methods and technologies.
Founded in 1934, the American Society for Photogrammetry and Remote Sensing (ASPRS) is a scientific association serving over 7,000 professional members around the world. Our mission is to advance knowledge and improve understanding of mapping sciences to promote the responsible applications of photogrammetry, remote sensing, geographic information systems (GIS), and supporting technologies. - Editorial Board
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