Motion Estimation of 3D Planar Objects using Multi-Sensor Data Fusion

센서 융합을 이용한 움직이는 물체의 동작예측에 관한 연구

Motion can be estimated continuously from each sensor through the analysis of the instantaneous states of an object. This paper is aimed to introduce a method to estimate the general 3D motion of a planar object from the instantaneous states of an object using multi-sensor data fusion. The instantaneous states of an object is estimated using the linear feedback estimation algorithm. The motion estimated from each sensor is fused to provide more accurate and reliable information about the motion of an unknown planar object. We present a fusion algorithm which combines averaging and deciding. With the assumption that the motion is smooth, the approach can handle the data sequences from multiple sensors with different sampling times. Simulation results show proposed algorithm is advantageous in terms of accuracy, speed, and versatility.