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초음파 센서 어레이 및 관성 센서 기반 6DoF 객체 자세 인식 기법
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- Issue Date
- 2020-11
- Citation
- 대한전자공학회 학술 대회 (추계) 2020, pp.328-332
- Publisher
- 대한전자공학회
- Language
- Korean
- Type
- Conference Paper
- Abstract
- In this paper, we introduce a novel technique of 6DoF object pose estimation, fusing an ultrasonic-based direction estimation and an inertial measurement unit (IMU) sensor-based three dimensional (3D) posture recognition method. The proposed method roughly estimates the 3D direction and position of an object at relatively low speed (10㎐) using delay and sum beamforming (DSBF) algorithm by placing two multi-channel ultrasonic sensors in 2D space, and accurately estimates the real-time 3D position using a high-speed (187.5㎐ inertial sensor mounted on the target object. In order to maximize the real-time performance and cost-effectiveness of the proposed system, a cost-effective field programmable gate array (FPGA) is used for the ultrasonic array-based 3D localization estimation module since DSBF algorithm can be optimized through parallel operations, and micro control units (MCU) are utilized to process the attitude & heading reference system (AHRS) algorithm which requires high computational complexity. Based on the high accuracy and real-time performance of 3D position and rotation estimation of an object mounted on the user’s hand, the proposed system can be applied to interactive tools on virtual reality contents.