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A Novel Pose Estimation Scheme for Permanent Magnet Marker Using Rotating Frame Method

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Author(s)
Jiho Park
Type
Thesis
Degree
Master
Department
대학원 융합기술학제학부(지능로봇프로그램)
Advisor
Yoon, Jung Won
Abstract
This thesis presents a new localization scheme for permanent magnet marker(PMM) with a low dimensional optimization process. Existing PMM localization methods using hall sensors were basically optimized by a 6-dimension optimization parameter vector. The previous method based on the ideal equation made it impossible to apply the PMM to a real environment with external environmental changes such as temperature changes outside of the ideal experimental environment. Additionally, it needs large computational costs and thus shows low real-time performance. In this study, by using a new optimization function called the Rotating Frame Method(RFM), it is shown that PMM localization which has high accuracy and real-time performance is possible with low-dimension optimization parameters corresponding to the roll and pitch values of the rotation of sensor's coordinate frame. Since the PMM localization method is currently used as a base technology for capsule-type robots, soft sensors, and soft robots, the newly proposed pose estimation scheme suggest a new method for their actual environment.
URI
https://scholar.gist.ac.kr/handle/local/18882
Fulltext
http://gist.dcollection.net/common/orgView/200000884035
Alternative Author(s)
박지호
Appears in Collections:
Department of AI Convergence > 3. Theses(Master)
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