3D measurements from imaging laser radars: how good are they?
Image and Vision Computing - Special issue: range image understanding
The interpretation of phase and intensity data for AMCW light detection sensors for reliable ranging
International Journal of Robotics Research
ACME, A Telerobotic Active Measurement Facility
The Sixth International Symposium on Experimental Robotics VI
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We describe a Bayesian estimation method for measurement of both range and surface orientation using a laser range finder. The method not only provides more accurate estimates of range for dark surfaces that are difficult to measure, but also simultaneously provides estimates of surface normals. This paper describes our efforts for a commercially available sensor, the laser range finder Acuity Accu-Range 3000 LIR, a widely available device. We detail the Bayesian techniques. sensor calibration, and the processing required.