An omnidirectional 3D sensor with line laser scanning |
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| Affiliation: | 1. State Key Laboratory of Tribology, Mechanical Engineering, Tsinghua University, Beijing 100084, China;2. State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China;3. School of Electrical Engineering, Southeast University, Nanjing 210096, China;1. Electrical Engineering Department, President University, Jl. Ki Hajar Dewantara, Jababeka Education Park, Cikarang Bekasi, West-Java 17550, Indonesia;2. Electronic and Computer Engineering Department, National Taiwan University of Science and Technology (NTUST), Da-an District, Taipei City 10607, Taiwan;1. Santa Cruz Institute for Particle Physics and the University of California, 1156 High Street, Santa Cruz, CA 95064, USA;2. SLAC National Accelerator Laboratory, 2575 Sand Hill Road, Menlo Park, CA 94025, USA;1. Key Laboratory of Earth and Planetary Physics, Institute of Geology and Geophysics, Chinese Academy of Sciences, Beijing 100029, China;2. Beijing National Observatory of Space Environment, Institute of Geology and Geophysics, Chinese Academy of Sciences, Beijing 100029, China |
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| Abstract: | An active omnidirectional vision owns the advantages of the wide field of view (FOV) imaging, resulting in an entire 3D environment scene, which is promising in the field of robot navigation. However, the existing omnidirectional vision sensors based on line laser can measure points only located on the optical plane of the line laser beam, resulting in the low-resolution reconstruction. Whereas, to improve resolution, some other omnidirectional vision sensors with the capability of projecting 2D encode pattern from projector and curved mirror. However, the astigmatism property of curve mirror causes the low-accuracy reconstruction. To solve the above problems, a rotating polygon scanning mirror is used to scan the object in the vertical direction so that an entire profile of the observed scene can be obtained at high accuracy, without of astigmatism phenomenon. Then, the proposed method is calibrated by a conventional 2D checkerboard plate. The experimental results show that the measurement error of the 3D omnidirectional sensor is approximately 1 mm. Moreover, the reconstruction of objects with different shapes based on the developed sensor is also verified. |
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| Keywords: | Omnidirectional vision Laser line scanning Calibration |
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