Position and Pose Detection of Moving Object in Fog and Dust Environment Based on Laser Array

A position and pose detection method of moving object in fog and dust environment is proposed in this paper. Laser array comprised of four angled lasers is mounted on a turntable fixated on the detecting object. The turntable is tuned automatically to guarantee that all laser spots are projected onto a plate, which keeps stationary with the world coordinate system. The position and pose of detecting object can be figured out according to laser spot positions. The position precision of the proposed method can reach 0.2% or higher in the detecting range of 25-30m. The azimuth detection range can be as wide as 0-360° with the tuning of the turntable. Simulations are carried out to evaluate the influence of the measurement errors on detecting results, revealing that the detection accuracy does not exceed 9mm and 0.01rad in the permitted noise levels. Those results indicate that the proposed method is expected to be applied to high-precision position and pose detection of moving objects (mobile robots, special machinery, etc.) in fog and dust environment.