Uncertainty minimization in the localization of polyhedral objects

A straightforward method is presented for the determination of the optimal sensor exploration in the localization of a polyhedral object, whose geometry is known. Optimality is intended in the sense of the a posteriori covariance matrix of the object position and orientation parameters. The method consists in decomposing the problem into simpler subproblems, each one relative to a single planar face of the object. It requires reasonable processing time, i.e. comparable with the sensor activation time