Accuracy improvement in 3D laser scanner based on dynamic triangulation for autonomous navigation system

Real-Moreno, Oscar; Rodríguez-Quiñonez, Julio C.; Sergiyenko, Oleg; Básaca-Preciado, Luís C.; Hernández-Balbuena, Daniel; Rivas-López, Moisés; Flores-Fuentes, Wendy

doi:10.1109/isie.2017.8001486

Cited by 16 publications

(4 citation statements)

References 16 publications

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“…Nowadays, applications like manufacturing process, structural health monitoring, microsurgery, laparoscopic surgery, and specially in autonomous navigation have used three-dimensional (3-D) measuring techniques. [1][2][3][4][5] In these applications, the accuracy is essential for the tasks that must be developed; therefore, there are methods to improve the accuracy of the 3-D measurements. 6,7 In autonomous navigation systems, the aim is to move an autonomous object through a 3-D environment with classic interpolation methods (inertial sensors) or external references (computer vision, ultrasonic sensors, GPS, CCD, and CMOS).…”

Section: Introductionmentioning

confidence: 99%

Improve three-dimensional point localization accuracy in stereo vision systems using a novel camera calibration method

Ramírez-Hernández

Rodríguez-Quiñonez

Castro-Toscano

et al. 2020

International Journal of Advanced Robotic Systems

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Computer vision systems have demonstrated to be useful in applications of autonomous navigation, especially with the use of stereo vision systems for the three-dimensional mapping of the environment. This article presents a novel camera calibration method to improve the accuracy of stereo vision systems for three-dimensional point localization. The proposed camera calibration method uses the least square method to model the error caused by the image digitalization and the lens distortion. To obtain particular three-dimensional point coordinates, the stereo vision systems use the information of two images taken by two different cameras. Then, the system locates the two-dimensional pixel coordinates of the three-dimensional point in both images and coverts them into angles. With the obtained angles, the system finds the three-dimensional point coordinates through a triangulation process. The proposed camera calibration method is applied in the stereo vision systems, and a comparative analysis between the real and calibrated three-dimensional data points is performed to validate the improvements. Moreover, the developed method is compared with three classical calibration methods to analyze their advantages in terms of accuracy with respect to tested methods.

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Section: Introductionmentioning

confidence: 99%

Improve three-dimensional point localization accuracy in stereo vision systems using a novel camera calibration method

Ramírez-Hernández

Rodríguez-Quiñonez

Castro-Toscano

et al. 2020

International Journal of Advanced Robotic Systems

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“…The procedure was further analyzed and applied in [3,4,[6][7][8] to mechanical components of mixers, to knee prostheses and to cranial inserts, using new instruments and procedures properly developed [3,5,9]. A further application of 3D optical scanning devices in mobility issues is also related to the development of autonomous navigation systems, using obstacle and distance digitization as a guidance and applying different scanning principles, like laser or structured light triangulation [10,11].…”

Section: Introductionmentioning

confidence: 99%

New Instrumented Trolleys and A Procedure for Automatic 3D Optical Inspection of Railways

Valigi

Logozzo

Meli

et al. 2020

Sensors

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This paper focuses on new instrumented trolleys, allowing automated 3D inspection of railway infrastructures, using optical scanning principles and devices for defects and damage evaluation. Inspection of rolling components is crucial for wear evaluation and to schedule maintenance interventions to assure safety. Currently, inspection trolleys are mainly instrumented with 2D contact or optical sensors. The application of 3D non-contact digitizers proposed in this paper allows for a quick and more complete monitoring of the health conditions of railways, also in combination with a proper procedure for automatic 3D inspection. The results of the experimental tests using 3D portable optical scanners on railways are compared with results obtained by a trolley instrumented with 2D contact sensors. The results demonstrate the effectiveness of the trolleys mounting 3D handheld optical digitizers with proper automated software inspection procedures.

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“…Light detection and ranging (LIDAR) is a substantial contributing sensor for autonomous driving [ 1 , 2 ], 3D reconstruction [ 3 , 4 , 5 ], simultaneous localization and mapping (SLAM) [ 6 , 7 , 8 , 9 , 10 ] and visual navigation [ 11 , 12 , 13 , 14 ], etc. With the benefits of high accuracy and ignoring of background illumination, the rotating two-dimensional light detection and ranging (R2D-LIDAR) becomes an attractive sensor for outdoor mobile robots [ 15 ].…”

Section: Introductionmentioning

confidence: 99%

An Improved Calibration Method for a Rotating 2D LIDAR System

Zeng

Dai

et al. 2018

Sensors

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This paper presents an improved calibration method of a rotating two-dimensional light detection and ranging (R2D-LIDAR) system, which can obtain the 3D scanning map of the surroundings. The proposed R2D-LIDAR system, composed of a 2D LIDAR and a rotating unit, is pervasively used in the field of robotics owing to its low cost and dense scanning data. Nevertheless, the R2D-LIDAR system must be calibrated before building the geometric model because there are assembled deviation and abrasion between the 2D LIDAR and the rotating unit. Hence, the calibration procedures should contain both the adjustment between the two devices and the bias of 2D LIDAR itself. The main purpose of this work is to resolve the 2D LIDAR bias issue with a flat plane based on the Levenberg–Marquardt (LM) algorithm. Experimental results for the calibration of the R2D-LIDAR system prove the reliability of this strategy to accurately estimate sensor offsets with the error range from −15 mm to 15 mm for the performance of capturing scans.

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Accuracy improvement in 3D laser scanner based on dynamic triangulation for autonomous navigation system

Cited by 16 publications

References 16 publications

Improve three-dimensional point localization accuracy in stereo vision systems using a novel camera calibration method

Improve three-dimensional point localization accuracy in stereo vision systems using a novel camera calibration method

New Instrumented Trolleys and A Procedure for Automatic 3D Optical Inspection of Railways

An Improved Calibration Method for a Rotating 2D LIDAR System

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