Objective evaluation of scanning ladar configurations for mobile robots

Desai, Ankit; Huber, Daniel

doi:10.1109/iros.2009.5354359

Cited by 18 publications

(8 citation statements)

References 13 publications

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“…Typically, only a qualitative comparison of different scan patterns is offered. However, Desai and Huber (2009) provide a objective, quantitative method for choosing a ladar mounting and articulation pattern by measuring density and uniformity of sensor measurements in simulation. An open area of research is to compare obstacle detection probability for small obstacles for different laser scanning patterns.…”

Section: Related Workmentioning

confidence: 99%

River mapping from a flying robot: state estimation, river detection, and obstacle mapping

et al. 2012

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Accurately mapping the course and vegetation along a river is challenging, since overhanging trees block GPS at ground level and occlude the shore line when viewed from higher altitudes. We present a multimodal perception system for the active exploration and mapping of a river from a small rotorcraft. We describe three key components that use computer vision, laser scanning, inertial sensing and intermittant GPS to estimate the motion of the rotorcraft, detect the river without a prior map, and create a 3D map of the riverine environment. Our hardware and software approach is cognizant of the need to perform multi-kilometer missions below tree level with size, weight and power constraints. We present experimental results along a 2 km loop of river using a surrogate perception payload. Overall we can build an S. Scherer ( ) · S. Achar · H. Cover · A. Chambers · S. Nuske · accurate 3D obstacle map and a 2D map of the river course and width from light onboard sensing.

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Section: Related Workmentioning

confidence: 99%

River mapping from a flying robot: state estimation, river detection, and obstacle mapping

et al. 2012

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“…The slant LIDAR, however, narrows scan area and de- 1 http://www.willowgarage.com/pages/pr2/overview creases vertical gaps of 3D points, although the system using the slant LIDAR needs extra-calculation on point location. Relationship between tilt angle and density of cloud point is already analyzed [6]. As a special case, the device which contains LIDAR with complicated oscillation mechanism can capture dense 3D point cloud fast [7].…”

Section: Design and Implementation Of Device Hardware 21 Rotation Mementioning

confidence: 99%

Measurement of Dense Static Point Cloud and Online Behavior Recognition Using Horizontal LIDAR and Pan Rotation of Vertical LIDAR with Mirrors

Noguchi

Handa

Fukui

et al. 2014

SICE Journal of Control, Measurement, and System Integration

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This paper proposes a new device to capture dense point cloud of human contour using horizontal LIDAR and vertical LIDAR with mirrors on pan rotational mechanism. This paper also reports a new method to estimate simple behavior such as standing and sitting online from only single vertical scan data. The combination of rotation mechanism and vertical LIDAR enlarge measurement area to overall room. Both mirrors use and pan rotation control enhance density of point cloud. The horizontal LIDAR provides robust tracking of human without missing. The experiments about performance of the device and the method demonstrated that our device and method contain sufficient feasibility to monitor human behavior in human living environments. The authors also demonstrated online recognition of simple human behavior such as standing and sitting from only single vertical scan points using pattern recognition technique.

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“…The latter parameter to some extent reflects the effect of the sensor data on the target application (mapping the tunnel). Desai and Huber [8] explore a method to evaluate the utility of LADAR (LAser Detection And Ranging) sensors with a main focus on mobile robotics applications. They use a LADAR simulator instead of real sensors for their evaluation and analyze the effect of different sensor configurations on the degree to which the data density varies, the effect of sensor angular increment and for modeling moving sensors.…”

Section: D Range Sensor Evaluationmentioning

confidence: 99%

Application based 3D sensor evaluation: A case study in 3D object pose estimation for automated unloading of containers

Mojtahedzadeh

Stoyanov

Lilienthal

2013

2013 European Conference on Mobile Robots

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Abstract-A fundamental task in the design process of a complex system that requires 3D visual perception is the choice of suitable 3D range sensors. Identifying the utility of 3D range sensors in an industrial application solely based on an evaluation of their distance accuracy and the noise level may lead to an inappropriate selection. To assess the actual effect on the performance of the system as a whole requires a more involved analysis. In this paper, we examine the problem of selecting a set of 3D range sensors when designing autonomous systems for specific industrial applications in a holistic manner. As an instance of this problem we present a case study with an experimental evaluation of the utility of four 3D range sensors for object pose estimation in the process of automation of unloading containers.

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Objective evaluation of scanning ladar configurations for mobile robots

Cited by 18 publications

References 13 publications

River mapping from a flying robot: state estimation, river detection, and obstacle mapping

River mapping from a flying robot: state estimation, river detection, and obstacle mapping

Measurement of Dense Static Point Cloud and Online Behavior Recognition Using Horizontal LIDAR and Pan Rotation of Vertical LIDAR with Mirrors

Application based 3D sensor evaluation: A case study in 3D object pose estimation for automated unloading of containers

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