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

Fredrik Bagge Carlson; Martin Karlsson; Anders Robertsson; Rolf Johansson

doi:10.1109/IROS.2016.7759549

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

Fredrik Bagge Carlson, Martin Karlsson, Anders Robertsson, Rolf Johansson

Research output: Chapter in Book/Report/Conference proceeding › Paper in conference proceeding › peer-review

383 Downloads (Pure)

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.

Original language	English
Title of host publication	2016 IEEE/RSJ International Conference on Intelligent Robots and Systems
Place of Publication	Daejeon, South Korea
Publisher	IEEE - Institute of Electrical and Electronics Engineers Inc.
Pages	3728-3734
Number of pages	7
ISBN (Electronic)	978-1-5090-3762-9
DOIs	https://doi.org/10.1109/IROS.2016.7759549
Publication status	Published - 2016 Oct 9
Event	2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) - Daejeon, Korea, Republic of Duration: 2016 Oct 9 → 2016 Oct 14 https://www.ieee.org/conferences_events/conferences/conferencedetails/index.html?Conf_ID=35211

Conference

Conference	2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Abbreviated title	IROS2016
Country/Territory	Korea, Republic of
City	Daejeon
Period	2016/10/09 → 2016/10/14
Internet address	https://www.ieee.org/conferences_events/conferences/conferencedetails/index.html?Conf_ID=35211

Subject classification (UKÄ)

Robotics

Access to Document

10.1109/IROS.2016.7759549

seamTrackingPaperAccepted author manuscript, 971 KB

Cite this

@inproceedings{95b40e4306df4c0b9b97266b05208891,

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

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 Martin Karlsson and Anders Robertsson and Rolf Johansson",

year = "2016",

month = oct,

day = "9",

doi = "10.1109/IROS.2016.7759549",

language = "English",

pages = "3728--3734",

booktitle = "2016 IEEE/RSJ International Conference on Intelligent Robots and Systems",

publisher = "IEEE - Institute of Electrical and Electronics Engineers Inc.",

address = "United States",

note = "2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IROS2016 ; Conference date: 09-10-2016 Through 14-10-2016",

url = "https://www.ieee.org/conferences_events/conferences/conferencedetails/index.html?Conf_ID=35211",

}

Bagge Carlson, F , Karlsson, M, Robertsson, A & Johansson, R 2016, Particle Filter Framework for 6D Seam Tracking Under Large External Forces Using 2D Laser Sensors. in 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE - Institute of Electrical and Electronics Engineers Inc., Daejeon, South Korea, pp. 3728-3734, 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Daejeon, Korea, Republic of, 2016/10/09. https://doi.org/10.1109/IROS.2016.7759549

Particle Filter Framework for 6D Seam Tracking Under Large External Forces Using 2D Laser Sensors. / Bagge Carlson, Fredrik ; Karlsson, Martin; Robertsson, Anders et al.
2016 IEEE/RSJ International Conference on Intelligent Robots and Systems. Daejeon, South Korea: IEEE - Institute of Electrical and Electronics Engineers Inc., 2016. p. 3728-3734.

Research output: Chapter in Book/Report/Conference proceeding › Paper in conference proceeding › peer-review

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AU - Robertsson, Anders

AU - Johansson, Rolf

PY - 2016/10/9

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AB - 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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PB - IEEE - Institute of Electrical and Electronics Engineers Inc.

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Y2 - 9 October 2016 through 14 October 2016

ER -

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

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

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