3-D measurements from imaging laser radars: how good are they?

Martial Hebert and Eric Krotkov
Proceedings of the IEEE/RSJ International Workshop on Intelligent Robots and Systems '91, Intelligence for Mechanical Systems, November, 1991, pp. 359 - 364.


Download
  • Adobe portable document format (pdf) (690KB)
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
The authors analyze 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 plague measurements from this class of sensors. They classify the problems as fundamental (e.g. related to the signal-to-noise ratio), as architectural (e.g. limited by encoding distance by angles (0.2 pi )), and as artifacts of particular hardware implementations (e.g. insufficient temperature compensation). Experimental results from two different scanning laser range finders 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?," Proceedings of the IEEE/RSJ International Workshop on Intelligent Robots and Systems '91, Intelligence for Mechanical Systems, November, 1991, pp. 359 - 364.

BibTeX Reference
@inproceedings{Hebert_1991_3654,
   author = "Martial Hebert and Eric Krotkov",
   title = "3-D measurements from imaging laser radars: how good are they?",
   booktitle = "Proceedings of the IEEE/RSJ International Workshop on Intelligent Robots and Systems '91, Intelligence for Mechanical Systems",
   pages = "359 - 364",
   month = "November",
   year = "1991",
   volume = "1",
}