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An omnidirectional 3D sensor with line laser scanning
Xu J(徐静); Gao, Bingtuan; Liu, Chuande; Wang, Peng; Gao, Shuanglei
作者部门机器人学研究室
关键词Omnidirectional Vision Laser Linescanning Calibration
发表期刊Optics and Lasers in Engineering
ISSN0143-8166
2016
卷号84页码:96-104
收录类别SCI ; EI
EI收录号20161702303555
WOS记录号WOS:000376713300011
产权排序1
资助机构National Science Foundation of China with Nos. 11102039 and 51105218 and the Fund of State Key Laboratory of Tribology of China (Grant no. SKLT2015B10).
摘要An active omnidirectional vision owns the advantages of the wide field of view (FOV) imaging, resulting in an entire 3D environment scene, which is promising in the field of robot navigation. However, the existing omnidirectional vision sensors based on line laser can measure points only located on the optical plane of the line laser beam, resulting in the low-resolution reconstruction. Whereas, to improve resolution, some other omnidirectional vision sensors with the capability of projecting 2D encode pattern from projector and curved mirror. However, the astigmatism property of curve mirror causes the low-accuracy reconstruction. To solve the above problems, a rotating polygon scanning mirror is used to scan the object in the vertical direction so that an entire profile of the observed scene can be obtained at high accuracy, without of astigmatism phenomenon. Then, the proposed method is calibrated by a conventional 2D checkerboard plate. The experimental results show that the measurement error of the 3D omnidirectional sensor is approximately 1 mm. Moreover, the reconstruction of objects with different shapes based on the developed sensor is also verified.
语种英语
WOS标题词Science & Technology ; Physical Sciences
WOS类目Optics
关键词[WOS]DEPTH ; ACCURACY ; CAMERAS ; VISION
WOS研究方向Optics
引用统计
被引频次:9[WOS]   [WOS记录]     [WOS相关记录]
文献类型期刊论文
条目标识符http://ir.sia.cn/handle/173321/18636
专题机器人学研究室
通讯作者Xu J(徐静)
作者单位1.State Key Laboratory of Tribology, Mechanical Engineering, Tsinghua University, Beijing, China
2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
3.School of Electrical Engineering, Southeast University, Nanjing, China
推荐引用方式
GB/T 7714
Xu J,Gao, Bingtuan,Liu, Chuande,et al. An omnidirectional 3D sensor with line laser scanning[J]. Optics and Lasers in Engineering,2016,84:96-104.
APA Xu J,Gao, Bingtuan,Liu, Chuande,Wang, Peng,&Gao, Shuanglei.(2016).An omnidirectional 3D sensor with line laser scanning.Optics and Lasers in Engineering,84,96-104.
MLA Xu J,et al."An omnidirectional 3D sensor with line laser scanning".Optics and Lasers in Engineering 84(2016):96-104.
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