Volumetric Data Fusion of External Depth and Onboard Proximity Data For Occluded Space Reduction

Strong, Matthew; Escobedo, Caleb; Roncone, Alessandro

doi:10.48550/arxiv.2110.11512

Cited by 2 publications

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“…Alternatively, the robot’s surroundings can be observed from the robots’ surface by mounting time-of-flight (ToF) sensors onto the robot. Additional benefits are derived from combining such an approach with previously mentioned stationary depth cameras [ 6 , 7 ]. An approach that is gaining traction is to omit the expensive depth cameras and monitor the robot’s surroundings with individual cheaper depth sensors that are distributed across the robot’s surface [ 8 , 9 ].…”

Section: Introductionmentioning

confidence: 99%

Modular Lidar System for Multiple Field-of-View Ranging

Pogačnik,

Munih

2023

Sensors

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This paper explores the possibility of distributing the fields of view (FOVs) of a centralized lidar cluster using fixed mirrors for future use in safety applications in robotics and elsewhere. A custom modular lidar system with time-over-threshold (TOT) walk error compensation was developed for the experiments. It comprises a control board that provides the processing power and adjustable voltage regulation, and multiple individually addressable analogue front end (AFE) boards that each contain a transmitter, a receiver, time-to-digital (TDC) converters for pulse width measurements on the bot Tx and Rx side, and adjustable reference voltage generators for both the Tx and Rx pulse detection threshold. The lidar system’s performance with a target in the direct line of sight is compared to the configurations where the FOV is redirected with up to three mirrors in different configurations. The results show that the light path through the neighboring mirrors introduces a minor but noticeable measurement error on a portion of the measurement range.

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Section: Introductionmentioning

confidence: 99%

Modular Lidar System for Multiple Field-of-View Ranging

Pogačnik,

Munih

2023

Sensors

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“…To obtain a better representation of the robot's surroundings, multiple depth cameras, placed in different locations, can be used [4,5]. Another approach that may be used to solve occlusion is to mount a complementary depth camera or laser time of flight (ToF) proximity sensors onto a robot [6,7]. A similar safety system can be implemented by distributing individual proximity sensors over the robot without using an external depth camera [8][9][10].…”

Section: Introductionmentioning

confidence: 99%

Towards a Multi-Perspective Time of Flight Laser Ranging Device Based on Mirrors and Prisms

Pogačnik

Munih

2022

Applied Sciences

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This paper investigates the feasibility of redirecting the field of view (FOV) of a light-based time-of-flight (ToF) ranging device, commonly known as a pulsed lidar, using fixed mirrors and prisms for possible future use in robotics. The emphasis is on configurations where the FOV redirection element is positioned beyond the ranging device’s dead zone. A custom made direct ToF ranging device with time-over-threshold (TOT)-based walk error compensation was used to evaluate the effects of the FOV redirecting optics on range measurement accuracy and precision. The tests include redirecting the FOV with a clean prism with anti-reflective (AR) coating on its legs, as well as with a regular and a first surface mirror in both a clean and dusted state. The study finds the prism to be unsuitable due to parasitic reflections, which ruin the ranging data. The clean mirrors were found to have no noticeable effect on ranging accuracy. When they are dusty, mirrors introduce a negative measurement error. This effect is the most pronounced when a mirror is positioned toward the end of the partial dead zone of the ToF rangefinder, but loses influence as the mirror is moved farther away. The error is attributed to the parasitic reflection off dust on the mirror, which reduces the time of detection of the pulse reflected off the real target, and interferes with the walk error compensation by widening the detected pulse.

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Volumetric Data Fusion of External Depth and Onboard Proximity Data For Occluded Space Reduction

Cited by 2 publications

References 0 publications

Modular Lidar System for Multiple Field-of-View Ranging

Modular Lidar System for Multiple Field-of-View Ranging

Towards a Multi-Perspective Time of Flight Laser Ranging Device Based on Mirrors and Prisms

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