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Sensors 2015, 15(2), 2283-2308; doi:10.3390/s150202283

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

Institute of Intelligent Systems for Automation, Italian National Research Council, via Amendola 122/DO, 70126 Bari, Italy
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Received: 31 October 2014 / Accepted: 16 January 2015 / Published: 22 January 2015
(This article belongs to the Special Issue State-of-the-Art Sensors Technology in Italy 2014)
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Abstract

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. View Full-Text
Keywords: three-dimensional reconstruction; environmental monitoring; laser profilometry; range sensor; catadioptrics three-dimensional reconstruction; environmental monitoring; laser profilometry; range sensor; catadioptrics
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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MDPI and ACS Style

Marani, R.; Renò, V.; Nitti, M.; D'Orazio, T.; Stella, E. A Compact 3D Omnidirectional Range Sensor of High Resolution for Robust Reconstruction of Environments. Sensors 2015, 15, 2283-2308.

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