Accuracy Improvement Method of a 3D Laser Scanner Based on the D‐H Model

Chen, Kai; Zhan, Kun; Yang, Xiaobo; Zhang, Da

doi:10.1155/2021/9965904

Cited by 3 publications

(2 citation statements)

References 5 publications

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“…3D models can be acquired by numerous methods, starting from photogrammetric measurements using the dense photo matching technique [2][3][4][5][6] on which this paper is based, to terrestrial laser scanning of the object [7][8][9][10][11], to manual modelling of the objects [12,13] we want to obtain. However, a question remains concerning the purpose of the acquisition.…”

Section: D Model Acquisitionmentioning

confidence: 99%

Verification of the Wołek Castle Model with the Actual State Using Digital Photogrammetry and Conventional Survey Methods

Słowińska

Żyła²,

Borowiec³

2022

GaEE

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This paper presents the results of a study to assess the feasibility of using the Structure from Motion photogrammetric method to estimate what parts of Wołek Castle have survived from the 15th century to the present day. The photogrammetric measurements were made with a Nikon D5200 camera, and 249 mock-up images were obtained. Planimetry and altitude coordinates of the castle ruins were obtained using RTN GNSS measurements and the polar method. The measurements were made in the 2000 coordinate system in zone 6, the heights were obtained in the Kronstadt system. Two spatial models were made. The first one in the field scale was made using the ground control points measured in the terrain. The second one was made using ground control points measured on the model in the local system. The control measures were analyzed, the model compared with the actual orthophotomap, and it was estimated what part of the castle was preserved in reality.

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Section: D Model Acquisitionmentioning

confidence: 99%

Verification of the Wołek Castle Model with the Actual State Using Digital Photogrammetry and Conventional Survey Methods

Słowińska

Żyła²,

Borowiec³

2022

GaEE

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“…Laser scan technology in 3-dimensional (3D) fields has revolutionized the field of mapping and surveying. This technology provides advantages in terms of accuracy, simple data processing, and low cost [8]. Laser scanning, also known as light detection and ranging (LiDAR), has been widely used to quickly and accurately obtain threedimensional (3D) topographical data of visible surfaces.…”

Section: Laser Scanmentioning

confidence: 99%

Rear Dump Truck Measurement Design Using Laser For Loading Process Automation

Yanwari

Enriko²

2022

JAICT

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Transportation of goods using trucks is an irreplaceable method. However, it is undeniable that the truck-based method of transporting goods often attracts controversies, such as over-loading and products containing hazardous chemicals. This makes the need for automation of loading goods to trucks so that intentional or unintentional errors such as overloading and damage caused when an accident occurs in the process of loading chemical goods can be minimized. Of the four stages proposed in the automation process, namely (1) Trucks enter the cargo loading area, (2) Measurement of the volume or capacity of the vessel, (3) Calculation of the ideal arrangement of products on the vessel, and (4) The process of loading goods using a robotic devices. This article contains the design process for measuring the volume or capacity of the vessel. The measurement process is carried out using a plus (+) laser module and the steps taken in the measurement process are scanning the vessel that is highlighted using the laser module at several angles using a camera and calculating the length, width, and height of the body using trigonometric formulas. With the automation of loading goods, it is hoped that human intervention in the loading and unloading process can be eliminated so that errors that may occur can be minimized.

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A New Manipulator Calibration Method for the Identification of Kinematic and Compliance Errors Using Optimal Pose Selection

Kang

2022

Applied Sciences

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In this study, a manipulator calibration algorithm is suggested to decrease the positional errors of an industrial robotic manipulator using a genetic algorithm to select optimal measurement poses. First, a genetic algorithm based on the observability index is used for the selection of optimal measurement poses. By employing the selected optimal poses, conventional kinematic calibration is used to identify the geometric errors of the robot. Finally, to further improve the positional accuracy of the robot, compliance errors are compensated by a radial basis function neural network based on effective torques. The proposed method provides a novel and effective way to select optimal measurement poses for the calibration process using a genetic algorithm and enhances the accuracy of the robot manipulators by constructing a relationship between the effective torque and the compliance errors using a radial basis function. The results of the experimental calibration and validation processes carried out on a YS100 robot show the effectiveness of the proposed method in comparison with the other calibration approaches.

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Accuracy Improvement Method of a 3D Laser Scanner Based on the D‐H Model

Cited by 3 publications

References 5 publications

Verification of the Wołek Castle Model with the Actual State Using Digital Photogrammetry and Conventional Survey Methods

Verification of the Wołek Castle Model with the Actual State Using Digital Photogrammetry and Conventional Survey Methods

Rear Dump Truck Measurement Design Using Laser For Loading Process Automation

A New Manipulator Calibration Method for the Identification of Kinematic and Compliance Errors Using Optimal Pose Selection

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