High-performance laser range scanner

John Hancock, E. Hoffman, R. Sullivan, D. Ingimarson, Dirk Langer, and Martial Hebert
SPIE Proceedings on Intelligent Transportation Systems, 1997.


Download
  • Adobe portable document format (pdf) (362KB)
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
Laser scanners, or ladars, have been used for a number of years for mobile robot navigation. Although previous scanners were sufficient for low-speed navigation, they often did not have the range or angular resolution necessary for mapping at the long distances required by high-speed navigation. Many also did not provide an ample field of view.

In this paper we will present the development of state-of-the-art, high speed, high accuracy, laser range scanner technology This work has been a joint effort between CMU (project lead) and K2T (scanning mechanism) in Pittsburgh and Zoller + Friihlich (laser) in Wangen, Germany.

The scanner mechanism provides an unobstructed 360° horizontal field of view, and a 30° vertical field of view. Resolution of the scanner is variablc with a maximum resolution of approximately 0.06 degrees per pixel in both azimuth and elevation. The laser is amplitude-modulated, continuous-wave with an ambiguity interval of 52 meters, a range resolution of 1.6 mm, and a maximum pixcl rate of 500 kHz.

This paper will focus on the design and performance of the scanner mechanism and will discuss several potential applications for the technology. One application, obstacle detection for Automated Highway applications will be discussed in more detail. Example data will be shown and current mechanism improvements from the CMU prototype will also be discussed.


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

Text Reference
John Hancock, E. Hoffman, R. Sullivan, D. Ingimarson, Dirk Langer, and Martial Hebert, "High-performance laser range scanner," SPIE Proceedings on Intelligent Transportation Systems, 1997.

BibTeX Reference
@inproceedings{Hancock_1997_870,
   author = "John Hancock and E. Hoffman and R. Sullivan and D. Ingimarson and Dirk Langer and Martial Hebert",
   title = "High-performance laser range scanner",
   booktitle = "SPIE Proceedings on Intelligent Transportation Systems",
   year = "1997",
}