Accurate 3D acquisition of freely moving objects

Blais, F.; Picard, M.; Godin, G.

doi:10.1109/tdpvt.2004.1335269

Cited by 17 publications

(12 citation statements)

References 13 publications

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“…Blais et al [9] present an approach that explicitly takes into account that the scanned object moves. Their approach iteratively refines the model but relies on a Lissajous pattern to obtain the range data.…”

Section: Related Workmentioning

confidence: 99%

Reconstruction of rigid body models from motion distorted laser range data using optical flow

Ilg

Kümmerle²,

Burgard

et al. 2014

2014 IEEE International Conference on Robotics and Automation (ICRA)

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Abstract-The setup of tilting a 2D laser range finder up and down is a widespread strategy to acquire 3D point clouds. This setup requires that the scene is static while the robot takes a 3D scan. If an object moves through the scene during the measurement process and one does not take into account these movements, the resulting model will get distorted. This paper presents an approach to reconstruct the 3D model of a moving rigid object from the inconsistent set of 2D measurements by the help of a camera. Our approach utilizes optical flow in the camera images to estimate the motion in the image plane and point-line constraints to compensate the missing information about the motion in depth. We combine multiple sweeps and/or views into to a single consistent model using a point-to-plane ICP approach and optimize single sweeps by smoothing the resulting trajectory. Experiments obtained in real outdoor scenarios with moving cars demonstrate that our approach yields accurate models.

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Section: Related Workmentioning

confidence: 99%

Reconstruction of rigid body models from motion distorted laser range data using optical flow

Ilg

Kümmerle²,

Burgard

et al. 2014

2014 IEEE International Conference on Robotics and Automation (ICRA)

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“…For damage detection this is generally not a problem, but if necessary there are techniques for fixing the distortion through simultaneous tracking and imaging of surfaces or even using overlapping segments of a scan pattern to fix the distortion 36 .…”

Section: Spacecraft Inspectionmentioning

confidence: 99%

The complementary nature of triangulation and ladar technologies

2005

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3D ranging and imaging technology is generally divided into time-based (ladar) and position-based (triangulation) approaches. Traditionally ladar has been applied to long range, low precision applications and triangulation has been used for short range, high precision applications. Measurement speed and precision of both technologies have improved such that ladars are viable at shorter ranges and triangulation is viable at longer ranges. These improvements have produced an overlap of technologies for short to mid-range applications. This paper investigates the two sets of technologies to demonstrate their complementary nature particularly with respect to space and terrestrial applications such as vehicle inspection, navigation, collision avoidance, and rendezvous & docking.

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“…For example, a ship parked in sea would not appear in its true form in the collected data. This need of scanning moving objects has resulted in to development of new methods like the method proposed by Blais et al(2004) which first creates a rough, partial and distorted estimate of the model and then refines on it by using new range information using the ICP based algorithm. The other algorithm proposed by Weise et al(2007) works by combining stereo and active illumination and uses a closed form expression for motion error compensation.…”

Section: Introductionmentioning

confidence: 99%

“…The three methods propose their own unique ways of dealing with the problem of scanning of moving objects. Of the three available methods, the algorithms proposed by Blais et al(2004) and Weise et al(2007) can only be applied for objects located to short distance from the laser scanner.…”

Section: Introductionmentioning

confidence: 99%

Error analysis of motion correction method for laser scanning of moving objects

Goel

Lohani

2014

ISPRS Ann. Photogramm. Remote Sens. Spatial Inf. Sci.

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ABSTRACT:The limitation of conventional laser scanning methods is that the objects being scanned should be static. The need of scanning moving objects has resulted in the development of new methods capable of generating correct 3D geometry of moving objects. Limited literature is available showing development of very few methods capable of catering to the problem of object motion during scanning. All the existing methods utilize their own models or sensors. Any studies on error modelling or analysis of any of the motion correction methods are found to be lacking in literature. In this paper, we develop the error budget and present the analysis of one such 'motion correction' method. This method assumes availability of position and orientation information of the moving object which in general can be obtained by installing a POS system on board or by use of some tracking devices. It then uses this information along with laser scanner data to apply correction to laser data, thus resulting in correct geometry despite the object being mobile during scanning. The major application of this method lie in the shipping industry to scan ships either moving or parked in the sea and to scan other objects like hot air balloons or aerostats. It is to be noted that the other methods of 'motion correction' explained in literature can not be applied to scan the objects mentioned here making the chosen method quite unique. This paper presents some interesting insights in to the functioning of 'motion correction' method as well as a detailed account of the behavior and variation of the error due to different sensor components alone and in combination with each other. The analysis can be used to obtain insights in to optimal utilization of available components for achieving the best results.

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Accurate 3D acquisition of freely moving objects

Cited by 17 publications

References 13 publications

Reconstruction of rigid body models from motion distorted laser range data using optical flow

Reconstruction of rigid body models from motion distorted laser range data using optical flow

The complementary nature of triangulation and ladar technologies

Error analysis of motion correction method for laser scanning of moving objects

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