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Disturbance Rejection Filter for Depth Sensor

机译：深度传感器的扰动抑制滤波器

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摘要

In recent years, data obtained from sensors attached to excavators are being widely used in assisting the operators. The processing unit logic of such a sensor system has been developed to ensure flexibility in the design of the sensor system. As a part of this development, an effort has been made to solve the problem of detecting disturbances, such as rain, snow, and insects, when the depth sensor is used for outdoor measurements. An object placed in front of a depth sensor in a raining environment was moved back and forth while continuously measuring the appearance of the object. In the measured data, points with possible disturbances were chosen. The speed, direction, and acceleration between frames were calculated as feature quantities, which led to the development of a disturbance rejection filter that eliminates the points above set thresholds. This filter has been confirmed to detect the position of objects while ignoring the influence of rain in real applications.
机译：近年来，从连接到挖掘机的传感器获得的数据被广泛用于辅助操作员。 已经开发了这种传感器系统的处理单元逻辑以确保传感器系统的设计灵活性。 作为这一发展的一部分，当深度传感器用于室外测量时，已经努力解决检测雨量，雪和昆虫等雨量，雪和昆虫的问题。 放置在下雨环境中的深度传感器前面的物体来回移动，同时连续测量物体的外观。 在测量数据中，选择具有可能干扰的点。 帧之间的速度，方向和加速度被计算为特征量，其导致开发干扰抑制滤波器，其消除了上述设置阈值的点。 此过滤器已被确认以检测物体的位置，同时忽略真实应用中的雨量的影响。

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  • 来源
    《Kobelco technology review》 |2019年第37期|21-24|共4页
  • 作者

    Masashi HAMAGUCHI; Takashi HIEKATA;

  • 作者单位

    Applied Physics Research Laboratory Technical Development Group;

    General Administration Department Technical Development Group;

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  • 正文语种 eng
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