3D laser scanning vision system for autonomous robot navigation

Author

Básaca, Luis C. ; Rodríguez, Julio ; Sergiyenko, Oleg Yu ; Tyrsa, Vera V. ; Hernandez, Wilmar ; Hipólito, Juan I Nieto ; Starostenko, Oleg

Author_Institution

Eng. Inst. of Autonomous, Univ. of Baja California, Baja, CA, USA

fYear

2010

fDate

4-7 July 2010

Firstpage

1773

Lastpage

1778

Abstract

The presented Technical Vision System realizes the principle of dynamic triangulation. This technique is able to resolve in real time a triple task: to detect a presence of significant obstacle in a robot´s neighborhood; locate its position in a robot´s field-of-view; obtain in a short time a digital map of the obstacle visible surface with metrological accuracy of coordinates and adjustable step of discretization. Some aspects of theoretical backgrounds, technical design, optical principle, mathematical framework, signal processing, prototype design and experimentation are presented in this paper.

Keywords

mesh generation; navigation; optical scanners; prototypes; robot vision; solid modelling; 3D laser scanning vision system; autonomous robot navigation; discretization; dynamic triangulation; metrological accuracy; obstacle visible surface; optical principle; position locate; prototype design; robot field-of-view; signal processing; technical vision system; Laser beams; Mobile robots; Prototypes; Reflection; Surface emitting lasers; Three dimensional displays;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Electronics (ISIE), 2010 IEEE International Symposium on

Conference_Location

Bari

Print_ISBN

978-1-4244-6390-9

Type

conf

DOI

10.1109/ISIE.2010.5637874

Filename

5637874