3D MEASUREMENTS FROM IMAGING LASER RADARS - HOW GOOD ARE THEY

被引：116

作者：

HEBERT, M

KROTKOV, E

机构：

[1] The Robotics Institute, Carnegie Mellon University, Pittsbirgh

来源：

IMAGE AND VISION COMPUTING | 1992年 / 10卷 / 03期

基金：

美国国家航空航天局;

关键词：

RANGE FINDERS; MOBILE ROBOTS; CW LASERS; CALIBRATION; RANGE DATA;

D O I：

10.1016/0262-8856(92)90068-E

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

In this paper we analyse a class of imaging range finders - amplitude-modulated continuous-wave laser radars - in the context of computer vision and robotics. The analysis develops measurement models from the fundamental principles of laser radar operation, and identifies the nature and cause of key problems that affect measurements from this class of sensors. We classify the problems as fundamental (e.g. related to the signal-to-noise ratio), as architectural (e.g. limited by encoding distance by angles in [0, 2-pi]), and as artifacts of particular hardware implementations (e.g. insufficient temperature compensation). Experimental results from two different devices - scanning laser rangefinders designed for autonomous navigation - illustrate and support the analysis.

引用

页码：170 / 178

页数：9

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