A Method for Registration of 3-D Shapes
IEEE Transactions on Pattern Analysis and Machine Intelligence - Special issue on interpretation of 3-D scenes—part II
A two-dimensional interpolation function for irregularly-spaced data
ACM '68 Proceedings of the 1968 23rd ACM national conference
A Desktop 3D Scanner Exploiting Rotation and Visual Rectification of Laser Profiles
ICVS '06 Proceedings of the Fourth IEEE International Conference on Computer Vision Systems
Real-time 3D environment perception: An application for small humanoid robots
ROBIO '09 Proceedings of the 2008 IEEE International Conference on Robotics and Biomimetics
Robot navigation and manipulation based on a predictive associative memory
DEVLRN '09 Proceedings of the 2009 IEEE 8th International Conference on Development and Learning
Object recognition using laser range finder and machine learning techniques
Robotics and Computer-Integrated Manufacturing
Hi-index | 0.00 |
This paper presents the simulation of a three-dimensional laser range finder based on a two-dimensional laser scanner and different moving units. We examine and describe two methods differing in the way the laser range finder is mounted. In addition, a Pan-Tilt-Unit and a robot manipulator are used as moving platforms. The qualities of the laser scanner and the originating point density, which are very important for the system design, as well as the mathematical grounds for the reconstruction will be introduced and discussed in detail. In the next step, the resulting transformation matrixes and error compensation will be reviewed. Relevant to the moving units, the registration methods and the possible scan strategy are described and discussed. The concurrent application of both systems permits the viewing of the scene from different perspectives. The surroundings can be reconstructed with the help of mathematical transformations depending on the physical design, the resulting structure consists of unorganised point clouds. The achieved results can be visualised with OpenGL or Java3D and used for surface reconstruction. This way, typical robotic tasks like collision avoidance, grasp calculation, or handling of objects can be realised.