Real-time geometrical tracking and pose estimation using laser triangulation and photogrammetry

Blais, François; Beraldin, J.-A.; El-Hakim, Sabry F.; Cournoyer, Luc

doi:10.1109/im.2001.924436

Cited by 11 publications

(7 citation statements)

References 5 publications

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“…Other scan patterns are possible with specialized sensors. For example, Blais et al used a lissajous pattern to improve performance for real-time target tracking in 3D [11]. They found that lissajous patterns allow tracking speed that is several orders of magnitude faster than would be possible with a raster scanning pattern.…”

Section: Objective Evaluation Of Scanning Ladar Configurations For Momentioning

confidence: 99%

Objective evaluation of scanning ladar configurations for mobile robots

Desai

Huber²

2009

2009 IEEE/RSJ International Conference on Intelligent Robots and Systems

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-Scanning laser range sensors (ladars) are frequently used in mobile robotics applications because their ability to accurately measure the environment in 3D makes them well-suited for perception tasks like terrain modeling and obstacle detection. The choice of ladar sensor and the manner in which it is configured and integrated into a robot platform is usually determined subjectively based on the experience of the project team members. This paper develops a method for evaluating ladar sensors and sensor configurations that objectively measures the quality of a sensor/configuration choice in terms of density and uniformity of measurements within a region of interest. The method is applicable to static sensors and environments as well as scenarios with moving objects and mobile sensors. It can be used to compare different sensors, to evaluate specific sensor configurations and search for the optimal one, and to aid in designing new ladar sensors tailored to specific applications. We find that popular ladar configurations are often not the best configuration choice, and that alternative configurations not commonly used would offer better data density and uniformity.

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Section: Objective Evaluation Of Scanning Ladar Configurations For Momentioning

confidence: 99%

Objective evaluation of scanning ladar configurations for mobile robots

Desai

Huber²

2009

2009 IEEE/RSJ International Conference on Intelligent Robots and Systems

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show abstract

“…So far, we have not found any documented application to track UAVs in this way. A looselyrelated work employs very specialized laser devices to track beacons on a spacecraft by active triangulation (Blais et al, 2001).…”

Section: Introductionmentioning

confidence: 99%

Progress in Mini-Helicopter Tracking With a 3d Laser Range-Finder

Martínez

Pequeño-Boter

Mandow

et al. 2005

IFAC Proceedings Volumes

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“…This also offers the possibility of avoid slipping of unconstrained surfaces. Most ICP algorithms assume uncorrelated and uniformly distributed noise ?x, ?y, ?z, which is a correct simplification for small volumes but not correct for large volumes [6].…”

Section: Algorithmmentioning

confidence: 97%

“…In [6] we have demonstrated the use of Lissajous scanning patterns to obtain real-time tracking performances. Figures 2 and 3 show the use of different scanning scenarios that can be used to acquire highresolution accurate 3D profiles.…”

Section: The Constraint Of Physical Rigidity During Acquisitionmentioning

confidence: 99%