Enhanced 6D measurement by integrating an Inertial Measurement Unit (IMU) with a 6D sensor unit of a laser tracker

Yang, Linghui; Liao, Ruiying; Lin, Jiarui; Sun, Bo; Wang, Zheng; Keogh, Patrick; Zhu, Jigui

doi:10.1016/j.optlaseng.2019.105902

Cited by 12 publications

(5 citation statements)

References 20 publications

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“…However, due to the introduction of IMU, problems caused by the Euler angle (such as the gimbal lock problem) should be avoided. Therefore, ESKF (error-state Kalman Filter) [50], where error states constitute the state vector, is used.…”

Section: Appendix B Process Of Sensor Fusion Backward Smoothing Filte...mentioning

confidence: 99%

“…where vectors  ,  v , and  p denote the Euler angle, velocity, and position errors of IMU, respectively, and vectors g b , f b , g  b , and f  b represent the static and dynamic biases of the gyroscopic and accelerometer measurements, respectively [50]. Jacobian matrices F and G are derived based on the IMU error kinematics [51].…”

Section: Appendix B Process Of Sensor Fusion Backward Smoothing Filte...mentioning

confidence: 99%

“…Subsequently, backward smoothing filtering [45,50] is adopted to reduce the influence of IMU drift between camera observation nodes. Backward iteration is conducted at the time node of each camera measurement and performs reverse filtering fusion of data, where the Rauch, Tung, and Striebel method is applied [45].…”

Section: Appendix B Process Of Sensor Fusion Backward Smoothing Filte...mentioning

confidence: 99%

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Flexible High-Resolution Continuous 3-D Scanning for Large-Scale Industrial Components

Yang

Liao

et al. 2023

IEEE Trans. Instrum. Meas.

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Generating a large-scale high-density point cloud is crucial for three-dimensional shape measurements. Both areascan and line-scan camera systems have advantages and limitations for large-scale structured light measurement. Consequently, we propose a method that achieves complementary advantages of both the camera systems through flexible continuous scanning with high resolution and frequency. For point cloud generation, efficient scanning in continuous motion with high resolution, large field of view, and high frequency is realized using line-scan cameras. A flexible registration strategy without mechanical positioning is proposed for point cloud registration after referring to the registration methods in area-scan camera systems. To realize the above functions, system structure and calibration are designed. Techniques for point cloud generation with high dynamic performance and interference resistance are introduced. The point cloud registration strategy includes methods for high-frequency pose acquisition and processing. Moreover, an optimization method is designed for the point cloud after registration, and the texture is attached. The proposed system has excellent prospects for large-scale industrial component measurements.

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Section: Appendix B Process Of Sensor Fusion Backward Smoothing Filte...mentioning

confidence: 99%

Section: Appendix B Process Of Sensor Fusion Backward Smoothing Filte...mentioning

confidence: 99%

Section: Appendix B Process Of Sensor Fusion Backward Smoothing Filte...mentioning

confidence: 99%

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Flexible High-Resolution Continuous 3-D Scanning for Large-Scale Industrial Components

Yang

Liao

et al. 2023

IEEE Trans. Instrum. Meas.

Self Cite

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show abstract

“…Another paper also described using a large volume laser scanner to conduct a test of extensive-ranging and volumetric performance, and compared the results before and after a factory calibration by laser trackers [7]. Yang et al [8] proposed an approach by integrating an inertial measurement unit with a 6D sensor unit of a laser tracker, which overcame the problem of line of sight and relatively low acquisition rate of data.…”

Section: Introductionmentioning

confidence: 99%

Fixing positions and orientations of laser trackers during bundle adjustment in multi-station measurements

Wang¹,

Luo²,

Wang³

et al. 2020

Meas. Sci. Technol.

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The accumulated errors in multi-station measurements make it challenging to meet higher precision requirements for annular or straight tunnel measurements in the accelerator alignment field. In this paper, a study on fixing positions and orientations of laser trackers during the bundle adjustment is presented. First, we adopt the mixed least squares-total least squares algorithm to calculate the spatial-transformation parameters. Then, according to the principle of bundle adjustment based on laser trackers, we design four schemes and compare them to determine which scheme results in the highest precision. Experimental results show that fixing each station’s position and orientation can considerably decrease the absolute point errors from 0.130 to 0.069 mm within 15 m × 10 m × 3 m, and fixing stations’ orientations is better than fixing their positions. This research can derive high-precision schemes that effectively reduce accumulated errors in annular or straight tunnel measurements, and it can apply to other robotic sensors as well.

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“…The rationale for developing the second algorithm relies on some drawbacks hindering the use of this kind of sensor in the daily life scenario. Inertial-Measurement-Unit (IMU) based technologies suffer from ferromagnetic disturbances, and accelerometers require periodic registration because of the inherent drift error [26]. Besides, using PPE may hinder the effective positioning of such sensors that, if not correctly designed, can be invasive to normal activities [27][28][29].…”

mentioning

confidence: 99%

A Body Tracking-Based Low-Cost Solution for Monitoring Workers’ Hygiene Best Practices during Pandemics

Manghisi

Fiorentino

Boccaccio

et al. 2020

Sensors

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Since its beginning at the end of 2019, the pandemic spread of the severe acute respiratory syndrome coronavirus 2 (Sars-CoV-2) caused more than one million deaths in only nine months. The threat of emerging and re-emerging infectious diseases exists as an imminent threat to human health. It is essential to implement adequate hygiene best practices to break the contagion chain and enhance society preparedness for such critical scenarios and understand the relevance of each disease transmission route. As the unconscious hand–face contact gesture constitutes a potential pathway of contagion, in this paper, the authors present a prototype system based on low-cost depth sensors able to monitor in real-time the attitude towards such a habit. The system records people’s behavior to enhance their awareness by providing real-time warnings, providing for statistical reports for designing proper hygiene solutions, and better understanding the role of such route of contagion. A preliminary validation study measured an overall accuracy of 91%. A Cohen’s Kappa equal to 0.876 supports rejecting the hypothesis that such accuracy is accidental. Low-cost body tracking technologies can effectively support monitoring compliance with hygiene best practices and training people in real-time. By collecting data and analyzing them with respect to people categories and contagion statistics, it could be possible to understand the importance of this contagion pathway and identify for which people category such a behavioral attitude constitutes a significant risk.

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Enhanced 6D measurement by integrating an Inertial Measurement Unit (IMU) with a 6D sensor unit of a laser tracker

Cited by 12 publications

References 20 publications

Flexible High-Resolution Continuous 3-D Scanning for Large-Scale Industrial Components

Flexible High-Resolution Continuous 3-D Scanning for Large-Scale Industrial Components

Fixing positions and orientations of laser trackers during bundle adjustment in multi-station measurements

A Body Tracking-Based Low-Cost Solution for Monitoring Workers’ Hygiene Best Practices during Pandemics

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