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Carnegie Mellon Robotics Institute

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Abstract

Laser based sensing for scene interpretation and obstacle detection is challenged by partially viewed targets, wiry structures, and porous objects. We propose to address such problems by looking at the laser pulse waveform. We designed a new laser sensor with off-the-shelf components. In this paper we report on the design and the evaluation of this low cost and compact sensor, suitable for mobile robot application. We determine classical parameters such as operation range, repeatability, accuracy, resolution, but we also analyze laser pulse waveforms modes and mode shape in order to extract additional information on the scene.

Keywords

laser pulse waveform, obstacle detection, scene interpretation

Notes

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

Associated Lab(s) / Group(s): Helicopter Lab and 3D Computer Vision Group

Number of pages: 6

Text Reference

Nicolas Vandapel, Omead Amidi, and James Ryan Miller , "Toward Laser Pulse Waveform Analysis for Scene Interpretation," IEEE International Conference on Robotics and Automation, May, 2004, pp. 950 - 955.

BibTeX Reference

@inproceedings{Vandapel_2004_4616,
   author = "Nicolas Vandapel and Omead Amidi and James Ryan {Miller }",
   title = "Toward Laser Pulse Waveform Analysis for Scene Interpretation",
   booktitle = "IEEE International Conference on Robotics and Automation",
   pages = "950 - 955",
   month = "May",
   year = "2004",
   volume = "1",
}

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