METHOD FOR CALCULATING 6 DOF MOTION OF OBJECT BY USING 2D LASER SCANNER

摘要

A method for calculating the 6 degree-of-freedom motion of an object using a 2D laser sensor comprises a first step of detecting two corner points in a first direction by scanning an object with a first 2D laser sensor in the first direction; a second step of detecting two corner points in a second direction crossing at a right angle to the first direction by scanning the object with a second 2D laser sensor crossing at a right angle to the first 2D laser sensor in the second direction; a third step of calculating the first position information of the four points on a laser sensor coordinate system; a fourth step of defining the second position information of the four points on an object coordinate system; and a fifth step of calculating the 6 degree-of-freedom motion of the object based on the first position information calculated in the third step and the second position information defined in the fourth step.