The DLR multisensory Hand-Guided Device: the Laser Stripe Profiler

Author

Strobl, K.H. ; Sepp, W. ; Wahl, E. ; Bodenmüller, T. ; Suppa, M. ; Seara, J.E. ; Hirzinger, G.

Author_Institution

Inst. of Robotics & Mechatronics, German Aerosp. Center DLR, Wessling, Germany

Volume

2

fYear

2004

fDate

April 26-May 1, 2004

Firstpage

1927

Abstract

This paper presents the DLR Laser Stripe Profiler as a component of the DLR multisensory Hand-Guided Device for 3D modeling. After modeling the reconstruction process, we propose a novel method for laser plane self-calibration based on the assessment of the deformations the miscalibration leads to. In addition, the requirement for absence of optical filtering implies the development of a robust stripe segmentation algorithm. Experiments demonstrate the validity and applicability of the approaches.

Keywords

CCD image sensors; calibration; filtering theory; image reconstruction; image segmentation; laser beam applications; modelling; sensor fusion; 3D modeling; DLR laser stripe profiler; DLR multisensory hand guided device; deformations assessment; laser plane self calibration; miscalibration; optical filtering; reconstruction process; robust stripe segmentation algorithm; Biomedical optical imaging; Calibration; Computer vision; Filtering; Image reconstruction; Image segmentation; Laser modes; Optical filters; Optical sensors; Robustness;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on

ISSN

1050-4729

Print_ISBN

0-7803-8232-3

Type

conf

DOI

10.1109/ROBOT.2004.1308105

Filename

1308105