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Estimating geometric primitives using 3D range data
1999 (English)Independent thesis Advanced level (professional degree), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

A method for estimating geometric primitives of objects using 3D range data from a scanning laser is presented. It has been developed in order to position a robot arm relative to objects. An interactive segmentation technique selects a subset of 3D range data corresponding to an object and a parametrized model is fitted to the selected data using orthogonal distance regression. This yields a nonlinear least squares problem that is solved by the iterative damped Gauss-Newton method. The method is applied to the problem of estimating primitives corresponding to cylinders and experimental results are presented.

Place, publisher, year, edition, pages
Keyword [en]
Physics Chemistry Maths, cylinder fitting, nonlinear least squares, parameter, estimation, range data, range measuring laser, reverse, engineering, surface fitting, surface reconstruction
Keyword [sv]
Fysik, Kemi, Matematik
URN: urn:nbn:se:ltu:diva-42629ISRN: LTU-EX--99/238--SELocal ID: 09d2c570-6743-433b-a74d-40f695ae947cOAI: diva2:1015852
Subject / course
Student thesis, at least 30 credits
Educational program
Civil Engineering programmes 1997-2000, master's level
Validerat; 20101217 (root)Available from: 2016-10-04 Created: 2016-10-04Bibliographically approved

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