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A Portable and Remote 6-DOF Pose Sensor System With a Long Measurement Range Based on 1-D Laser Sensors

In this paper, we propose a novel noncontact 6-DOF pose sensor system with a long measurement range based on laser 1-D sensors and a camera. The proposed system is fully portable for it does not require any installation of a device on the target and can measure a 6-DOF pose within submillimeter level of accuracy from a long distance. This system can calculate 6-DOF poses without a singularity even when the initial pose or information about the target object is not available a priori. Experiments are conducted to validate the performance of the developed sensor system for detecting poses of an object from 30 m away with an accuracy of 4 mm and 0.5° and a high precision of 0.7 mm and 0.3°.