A Compact 3D Omnidirectional Range Sensor of High Resolution for Robust Reconstruction of Environments

Sensors

Roberto Marani¹  Vito Renò²  Massimiliano Nitti²  Tiziana D'Orazio² 

[1] Institute of Intelligent Systems for Automation, Italian National Research Council, via Amendola 122/DO, 70126 Bari, Italy;

关键词: three-dimensional reconstruction;    environmental monitoring;    laser profilometry;    range sensor;    catadioptrics;   

DOI  :  10.3390/s150202283

来源: mdpi

【 摘 要 】

In this paper, an accurate range sensor for the three-dimensional reconstruction of environments is designed and developed. Following the principles of laser profilometry, the device exploits a set of optical transmitters able to project a laser line on the environment. A high-resolution and high-frame-rate camera assisted by a telecentric lens collects the laser light reflected by a parabolic mirror, whose shape is designed ad hoc to achieve a maximum measurement error of 10 mm when the target is placed 3 m away from the laser source. Measurements are derived by means of an analytical model, whose parameters are estimated during a preliminary calibration phase. Geometrical parameters, analytical modeling and image processing steps are validated through several experiments, which indicate the capability of the proposed device to recover the shape of a target with high accuracy. Experimental measurements show Gaussian statistics, having standard deviation of 1.74 mm within the measurable range. Results prove that the presented range sensor is a good candidate for environmental inspections and measurements.

【 授权许可】

CC BY   
© 2015 by the authors; licensee MDPI, Basel, Switzerland.