&lt;title&gt;Development of a compact high-resolution 3D laser range imaging system&lt;/title&gt;

Tripp, Jeffrey W.; Ulitsky, Arkady; Pashin, Sergey; Mak, Nikolai; Hahn, John F.

doi:10.1117/12.498560

Cited by 3 publications

(3 citation statements)

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“…With the lidar, generating an accurate, detailed digital elevation model (DEM) of the surrounding terrain becomes an automated process (cf., Bellian et al, 2005), in stark contrast to labour intensive techniques such as manual surveying using an engineer's level, theodolite, or differential GPS, labour, and computationally expensive processes such as digital photogrammetry. In essence, a 45 min lidar scan accomplishes the equivalent of weeks to months of manual surveying, and with much greater accuracy than traditional tools; topographic coordinates using lidar are measured accurately within millimetres (Tripp et al, 2003). Using these data, polygon morphological characteristics (Fig.…”

Section: Geometric Properties Of Landformsmentioning

confidence: 99%

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Lidar and the mobile Scene Modeler (mSM) as scientific tools for planetary exploration

Osinski¹,

Barfoot²,

Ghafoor³

et al. 2010

Planetary and Space Science

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Section: Geometric Properties Of Landformsmentioning

confidence: 99%

“…We used an ILRIS3 6 D-ER (Intelligent Laser Ranging and Imaging System on pan-tilt unit) Lidar developed by Optech Inc. (Tripp et al, 2003) with a range of 41 km (Fig. 2a,b).…”

Section: Hardwarementioning

confidence: 99%

Lidar and the mobile Scene Modeler (mSM) as scientific tools for planetary exploration

Osinski¹,

Barfoot²,

Ghafoor³

et al. 2010

Planetary and Space Science

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“…Simultaneously, a light sensor, i.e. camera, acquires the scene, where the surface of the scene is measured via triangulation [30] or time-of-flight [35]. In [21], a 3D laser range finder consisting of a 2D laser scanner, a mount and a standard servo was built to map rescue environments.…”

Section: Laser Scannersmentioning

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 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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Linear terrestrial laser scanning using array avalanche photodiodes as detectors for rapid three-dimensional imaging

et al. 2010

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As an active remote sensor technology, the terrestrial laser scanner is widely used for direct generation of a three-dimensional (3D) image of an object in the fields of geodesy, surveying, and photogrammetry. In this article, a new laser scanner using array avalanche photodiodes, as designed by the Shanghai Institute of Technical Physics of the Chinese Academy of Sciences, is introduced for rapid collection of 3D data. The system structure of the new laser scanner is first presented, and a mathematical model is further derived to transform the original data to the 3D coordinates of the object in a user-defined coordinate system. The performance of the new laser scanner is tested through a comprehensive experiment. The result shows that the new laser scanner can scan a scene with a field view of 30° × 30° in 0.2 s and that, with respect to the point clouds obtained on the wall and ground floor surfaces, the root mean square errors for fitting the two planes are 0.21 and 0.01 cm, respectively. The primary advantages of the developed laser scanner include: (i) with a line scanning mode, the new scanner achieves simultaneously the 3D coordinates of 24 points per single laser pulse, which enables it to scan faster than traditional scanners with a point scanning mode and (ii) the new scanner makes use of two galvanometric mirrors to deflect the laser beam in both the horizontal and the vertical directions. This capability makes the instrument smaller and lighter, which is more acceptable for users.

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<title>Development of a compact high-resolution 3D laser range imaging system</title>

Cited by 3 publications

References 0 publications

Lidar and the mobile Scene Modeler (mSM) as scientific tools for planetary exploration

Lidar and the mobile Scene Modeler (mSM) as scientific tools for planetary exploration

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

Linear terrestrial laser scanning using array avalanche photodiodes as detectors for rapid three-dimensional imaging

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