Development of a laser range finder for 3D map-building in rubble

Kurisu, M.; Yokokohji, Yasuyoshi; Shiokawa, Yusuke; Samejima, Takayuki

doi:10.1109/iros.2004.1389392

Cited by 7 publications

(4 citation statements)

References 8 publications

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“…We believe that with the right optical design of the system, we should be able to obtain a measurement range of up to 3 m. We are currently in the process of optimizing our system to achieve this. This measurement range is greater than the range provided by the laser range finder used in [13] and consistent with the ranges provided by the 3D camera used in Ellekilde et al [4] and Ohno et al [25].…”

Section: Methodssupporting

confidence: 84%

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A novel 3D sensory system for robot-assisted mapping of cluttered urban search and rescue environments

Zhang

Nejat

Guo

et al. 2010

Intel Serv Robotics

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In this paper, the first application of utilizing a unique 3D sensor for sequential 3D map building in unknown cluttered urban search and rescue (USAR) environments is proposed. The sensor utilizes a digital fringe projection and phase shifting technique to provide real-time 2D and 3D sensory information of the environment. The proposed sensor is unique over current technologies in that high-resolution 3D information of rubble filled environments can be acquired from the single sensor at a speed of 30 frames per second (fps). Furthermore, we propose the development of a novel robust and reliable landmark identification technique that utilizes both 2D and 3D depth images taken by the sensor for 3D mapping. Preliminary experiments show the potential of the real-time 3D sensory system and landmark identification scheme for robotic 3D mapping in unknown cluttered USAR-like environments.

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Section: Methodssupporting

confidence: 84%

“…One such effort is by Kurisu et al [13], who have proposed the use of two different laser range finders for 3D mapping of rubble. The first laser range finder consists of a ring of laser beam module and an omnivision CCD camera.…”

Section: Sensors For Mapping Rubblementioning

confidence: 99%

A novel 3D sensory system for robot-assisted mapping of cluttered urban search and rescue environments

Zhang

Nejat

Guo

et al. 2010

Intel Serv Robotics

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“…In addition to the measurement of the distance, laser ranging is also used in 3-D field [7]. Research in [8] developed a LRF for 3D MapBuilding in rubble. In short distance, hand-held LRF has been widely used.…”

Section: Introductionmentioning

confidence: 99%

A least-square-based approach to improve the accuracy of laser ranging

Xiao

Zheng

et al. 2014

2014 International Conference on Multisensor Fusion and Information Integration for Intelligent Systems (MFI)

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Laser ranging is an emerging measurement technology in recent decades. In the short-range distance, phaseshift laser ranging has a wide range of applications. To improve the phase-shift laser ranging measurement accuracy, through analyzing principles and characteristics of phase-shift laser ranging, we proposed a novel method based on the least-square method. Then a theoretical model is established and verified by experiment. Later we compute residual sum of squares of leastsquare and residual sum of squares of piecewise linear, and make the average rate of residual sum of squares decrease by 22.06797%.

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“…The idea of light section method with an omni-directional camera can be found in works such as [10]- [13] On the other hand, SFM has the advantage that it can estimate the camera motion with 3-D measurement. The method is used not only for pipe inspection but also for construction of an environment map [14]- [16].…”

Section: Introductionmentioning

confidence: 99%

Self-localization and 3-D model construction of pipe by earthworm robot equipped with omni-directional rangefinder

Yamashita

Matsui

Kawanishi

et al. 2011

2011 IEEE International Conference on Robotics and Biomimetics

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Abstract-A lot of plumbings such as gas pipes and water pipes exist in public utilities, factories and so on. The use of an omni-directional camera which can take images of 360 deg in surroundings at a time is effective for pipe inspection. However, shape measurement is difficult only with the omnidirectional camera. Therefore, in this paper, we propose a reconstruction method of a piping shape by using a rangefinder constructed with an omni-directional camera and an omnidirectional laser. The rangefinder is mounted on an earthworm robot. Our method calculates 3-D coordinates by the light section method. By integrating the 3-D coordinates with the information of camera motion estimated by the structure from motion technique, the shape of the pipe is reconstructed. The validity of the proposed method is shown through experiments.

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Development of a laser range finder for 3D map-building in rubble

Cited by 7 publications

References 8 publications

A novel 3D sensory system for robot-assisted mapping of cluttered urban search and rescue environments

A novel 3D sensory system for robot-assisted mapping of cluttered urban search and rescue environments

A least-square-based approach to improve the accuracy of laser ranging

Self-localization and 3-D model construction of pipe by earthworm robot equipped with omni-directional rangefinder

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