Position measurement system for cylindrical objects using laser range finder

Hajime Tamura, Takeshi Sasaki, Hideki Hashimoto, Fumihiro Inoue

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Citations (Scopus)


In this paper, an accurate long-distance position measurement system using laser range finders (LRFs) is proposed. The system uses cylindrical objects, and can be used for surveys in construction fields. Given data from the LRF are nothing more than the contours of the objects. Therefore, this research aims to estimate accurate center positions of the objects by applying the least square method or the maximum likelihood estimation to their contours based on the shape information of the objects. We adopted cylindrical shaped objects since a circle is invariant against rotation. If we know the radius of the cylindrical object in advance, the aforementioned two methods become non-linear problems. For this reason, we applied the Newton-Raphson method to solve these non-linear equations. Additionally, we implemented a reflected beam intensity filter to compensate for a collapse of the contour's shape and a multiple times scanning algorithm to increase the number of data points belonging to the contour.

Original languageEnglish
Title of host publicationProceedings of SICE Annual Conference 2010, SICE 2010 - Final Program and Papers
PublisherSociety of Instrument and Control Engineers (SICE)
Number of pages6
ISBN (Print)9784907764364
Publication statusPublished - 2010
Externally publishedYes

Publication series

NameProceedings of the SICE Annual Conference


  • Circle fitting
  • Laser range finder
  • Least square method
  • Maximum likelihood estimation
  • Newton-Raphson method
  • Position measurement system

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering


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