A Compact 3D Omnidirectional Range Sensor of High Resolution for Robust Reconstruction of Environments
AbstractIn 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
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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.
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(2):2283-2308.Chicago/Turabian Style
Marani, Roberto; Renò, Vito; Nitti, Massimiliano; D'Orazio, Tiziana; Stella, Ettore. 2015. "A Compact 3D Omnidirectional Range Sensor of High Resolution for Robust Reconstruction of Environments." Sensors 15, no. 2: 2283-2308.