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dc.contributor.authorHu, Jwu-Shengen_US
dc.contributor.authorChang, Yung-Jungen_US
dc.contributor.authorHsu, Yu-Lunen_US
dc.date.accessioned2014-12-08T15:10:08Z-
dc.date.available2014-12-08T15:10:08Z-
dc.date.issued2009-01-15en_US
dc.identifier.issn0924-4247en_US
dc.identifier.urihttp://dx.doi.org/10.1016/j.sna.2008.10.003en_US
dc.identifier.urihttp://hdl.handle.net/11536/7742-
dc.description.abstractThis work proposes a calibration method and a computational algorithm to integrate the data of multiple optical flow sensors for two-dimensional trajectory measurements. Optical flow sensors offer a different kind of odometer as compared to the wheel encoder. Using multiple sensors can reduce the effect of measurement uncertainties. Since all sensors are mounted on a rigid body, their measurement data must obey a certain relation. which is utilized in this work. Additionally, mathematical formulae are developed to realize the computation. Analytical results show that the calibration procedure can be cast as an optimization problem given measurement data. Furthermore, the rigid-body relation is formulated as a null-space constraint using the calibrated parameters. Unreliable sensor measurements can be removed during operation by accessing the error distance to the null space. Experimental results are presented to support the proposed methods. (C) 2008 Elsevier B.V. All rights reserved.en_US
dc.language.isoen_USen_US
dc.subjectOptical flow sensoren_US
dc.subjectOptical mouseen_US
dc.subjectOdometryen_US
dc.subjectMultiple sensorsen_US
dc.subjectCalibrationen_US
dc.subjectData selectionen_US
dc.titleCalibration and on-line data selection of multiple optical flow sensors for odometry applicationsen_US
dc.typeArticleen_US
dc.identifier.doi10.1016/j.sna.2008.10.003en_US
dc.identifier.journalSENSORS AND ACTUATORS A-PHYSICALen_US
dc.citation.volume149en_US
dc.citation.issue1en_US
dc.citation.spage74en_US
dc.citation.epage80en_US
dc.contributor.department電控工程研究所zh_TW
dc.contributor.departmentInstitute of Electrical and Control Engineeringen_US
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