A MAP estimator based on geometric Brownian motion for sample distances of laser triangulation data |
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| Institution: | 1. Department of Instrument Science and Engineering, School of Electronic Information and Electrical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China;2. Department of Precision Mechanical Engineering, Shanghai University, Shanghai 200072, China;3. School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore 639798, Singapore;1. School of Electronic Information Engineering, University of Tianjin, Tianjin 300072, China;2. Key Laboratory of Advanced Electrical Engineering and Energy Technology, Tianjin Polytechnic University, Tianjin 30087, China;3. Department of Physics, Tianjin University of Science and Technology, Tianjin 300457, China;1. School of Science, Inner Mongolia University of Technology, Hohhot 010051, China;2. School of Civil Engineering, Inner Mongolia University of Technology, Hohhot 010051, China;3. College of Materials and Engineering Science, Inner Mongolia University of Technology, Hohhot 010051, China;4. The Sixth Academy of China Aerospace Science & Industry Corporation, Hohhot 010010, China |
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| Abstract: | The proposed algorithm is designed to enhance the line-detection stability in laser-stripe sensors. Despite their many features and capabilities, these sensors become unstable when measuring in dark or strongly-reflective environments. Ambiguous points within a camera image can appear on dark surfaces and be confused with noise when the laser-reflection intensity approaches noise level. Similar problems arise when strong reflections within the sensor image have intensities comparable to that of the laser. In these circumstances, it is difficult to determine the most probable point for the laser line. Hence, the proposed algorithm introduces a maximum a posteriori estimator, based on geometric Brownian motion, to provide a range estimate for the expected location of the reflected laser line. |
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| Keywords: | Laser-stripe sensor Optical triangulation MAP Maximum a posteriori estimation Brownian motion Geometric Brownian motion Prediction Line detection |
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