Robust 6-DOF motion sensing for an arbitrary rigid body by multi-view laser Doppler measurements

We introduce the methods for calibration, coordinate system selection, and the calculation pipeline, all of which contribute to the accuracy of the proposed system. For evaluation, the proposed system is compared with an offline chessboard-tracking scheme of a 500 fps camera. Experiments of measuring six different motion patterns are demonstrated to show the robustness of the proposed method against different kinds of motion.

We also conduct evaluations with different distances and velocities. The mean value error is less than 1.3 deg/s in rotation and 3.2 mm/s in translation, and is robust against changes in distance and velocity. For speed evaluation, the throughput of the proposed method is approximately 250 Hz and the latency is approximately 20 ms.