In this paper, a fast and accurate range-finding vision system is described. On request, it measures the three-dimensional coordinates (x, y, z) of a single point or of a series of points on the surface of the scene. ...
详细信息
ISBN:
(纸本)0892526300
In this paper, a fast and accurate range-finding vision system is described. On request, it measures the three-dimensional coordinates (x, y, z) of a single point or of a series of points on the surface of the scene. The scanning order is not fixed, but can be chosen freely. In fact, the scene-scanning process is driven in close interaction with the segmentation algorithms. The sensor is composed of a laser, a two-degrees-of-freedom deflection unit, pointing the laser-beam on the scene, 3 linear high resolution CCD photodiode arrays, observing the laser-spot through special optics. The system has been designed as an intelligent peripheral to a hostcomputer and is implemented in a 16-bit microprocessor environment. The hardware is roughly described. Two implemented segmentation algorithms, reducing 3-D coordinates to a description of the scene with planes are explained and evaluated.
Absolute location of mobile robot is a central problem to improve autonomy of vehicles in any known environment. The authors developed five methods using a scanning laser range finder. They compared the precision, the...
详细信息
ISBN:
(纸本)0892525568
Absolute location of mobile robot is a central problem to improve autonomy of vehicles in any known environment. The authors developed five methods using a scanning laser range finder. They compared the precision, the necessary computer time and the robustness of their algorithms for non-polyhedral cylindrical worlds.
暂无评论