3-D Measurements from Imaging Laser Radars: How Good Are They?

Martial Hebert and Eric Krotkov
International Journal of Image and Vision Computing, Vol. 10, No. 3, April, 1992, pp. 170-178.


Download
  • Adobe portable document format (pdf) (1MB)
Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

Abstract
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, 2n]), and as artifacts of particular hardn*are implementations (e.g. insufficient temperature compensation). Experimental results from two different devices - scanning laser rangefinders designed for autonomous navigation - illustrate and support the analysis.

Notes
Associated Center(s) / Consortia: Vision and Autonomous Systems Center

Text Reference
Martial Hebert and Eric Krotkov, "3-D Measurements from Imaging Laser Radars: How Good Are They?," International Journal of Image and Vision Computing, Vol. 10, No. 3, April, 1992, pp. 170-178.

BibTeX Reference
@article{Hebert_1992_1429,
   author = "Martial Hebert and Eric Krotkov",
   title = "3-D Measurements from Imaging Laser Radars: How Good Are They?",
   journal = "International Journal of Image and Vision Computing",
   pages = "170-178",
   month = "April",
   year = "1992",
   volume = "10",
   number = "3",
}