Algorithm of markerless long distance 6-DOF motion detection system based on laser distance sensors

Research on multi-dimension motion sensors for long distance based on single or stereo cameras that require prior knowledge of the target such as the configuration of the feature points or the target initial pose. Also, installations of additional sensors or markers, such as LEDs are implemented for robust 6-DOF motion calculations. The aim of this research is to design a marker-less and long-range 6-DOF motion detection system, based on low cost laser distance sensors and a vision sensor, that does not require the geometric configurations of the feature points nor the initial condition of the object. Also, the proposed detection system is designed to measure from a long distance of 30 meters without any assist of artificial markers or any other auxiliary devices. From the experimental validation, the sensor system performed with the accuracy of 10 mm and 0.5 degree measured from the range of 30 meters.