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An omnidirectional 3D sensor with line laser scanning
Xu J(徐静); Gao, Bingtuan; Liu, Chuande; Wang, Peng; Gao, Shuanglei
Department机器人学研究室
Source PublicationOptics and Lasers in Engineering
ISSN0143-8166
2016
Volume84Pages:96-104
Indexed BySCI ; EI
EI Accession number20161702303555
WOS IDWOS:000376713300011
Contribution Rank1
Funding OrganizationNational Science Foundation of China with Nos. 11102039 and 51105218 and the Fund of State Key Laboratory of Tribology of China (Grant no. SKLT2015B10).
KeywordOmnidirectional Vision Laser Linescanning Calibration
AbstractAn 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.
Language英语
WOS HeadingsScience & Technology ; Physical Sciences
WOS SubjectOptics
WOS KeywordDEPTH ; ACCURACY ; CAMERAS ; VISION
WOS Research AreaOptics
Citation statistics
Cited Times:15[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/18636
Collection机器人学研究室
Corresponding AuthorXu J(徐静)
Affiliation1.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
Recommended Citation
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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