A Sensor-Fusing System for Spatial Circle and Trunk Parameter Estimation

This paper proposes a fusing system consisting of a camera, a line laser, and an inertial measurement unit (IMU) for spatial circle and trunk parameter estimation. The line laser provides a stripe on the object surface that is captured by the camera. When using the system to scan an object, the 3D coordinate points on the surface of the scanned object are calculated with respect to a world coordinate frame by fusing the system movement and laser point coordinates, where the system movement is estimated from the IMU data by solving a smoothing optimization problem. Based on the information from the scanning process, algorithms are derived for detecting the spatial circle’s diameter and the trunk’s parameters. We also performed experiments to verify the feasibility of the system in real applications.