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3D laser scanning algorithm with humanoid-eye function
Chen Weihai, Song Weiyang, Rong Lixia, Liu Jingmeng*
School of Automation Science and Electrical Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100191, China

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ժҪ ���Ŀǰ������Ӧ�����ƶ������˵���ά����ɨ��ϵͳ���ڵ�ɨ��Ч������,�����һ�ַ����۹��ܵ���ά����ɨ���㷨.�ӷ���ѧ�Ƕȳ���,���㷨ģ�������۾���ɨ�蹦��,��İ���������зֲ�ɨ��:���ݵ�ǰ��ɨ����Ϣ,���߹滮����һ����ɨ�����,�Լ���������Ϣ�Ļ�ȡ;���÷ֲ��岹��λ�ķ������ֲ��ֲ�ɨ�������ʱ������,�Ӷ������ɨ��ϵͳ��Ч��.Ϊ������ɨ���㷨�����ߴ����ʵʱ�Ե�Ҫ��,������һ��DSP(Digital Signal Processing)+FPGA(Field-Programmable Gate Array)��Ӳ��ƽ̨�ܹ�:��DSP����������������ά��Ϣ�Ļ�ȡ,FPGA��Э����������ɨ���㷨��ʵ��.ʵ�������������۹��ܵ�ɨ���㷨������Ч�������άɨ��ϵͳ��ɨ��Ч��.
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Abstract�� Aiming at the scanning efficiency of three dimensional (3D) laser scanning system for mobile robot all over the world, a humanoid-eye 3D laser scanning algorithm was proposed. Imitating the scanning function of human eyes from bionics, this algorithm divides the scanning process into two steps: according to the scanning information currently, the scanning scheme of the next step will be planned to reduce the gain of useless information; Through adopting the stepping interpolation location to fetch up the time consuming from stepping scan, the efficiency of the scan can be improved. To satisfy the real-time requirement for the online computing, a hardware architecture consisting of digital signal processing (DSP) and field-programmable gate array (FPGA) was proposed. Therefore, as the main controller, DSP can obtain 3D laser data; as the coprocessor, FPGA can complete the scanning algorithm. The experiment result shows the humanoid-eye scanning algorithm can improve the efficiency of the 3D scanning system greatly.
Keywords�� mobile robots   3D laser   humanoid-eye   stepping interpolation location     
Received 2008-08-10;
Fund:

����863�ƻ�������Ŀ(2006AA04Z218)(2008AA04Z210); ������Ȼ��ѧ����������Ŀ(60775059)

About author: ��ΰ��(1955-),��,�㽭��ɽ��,����,whchenbuaa@126.com.
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��ΰ��, ��ε��, ����ϼ, ������.�����۹��ܵ���ά����ɨ���㷨[J]  �������պ����ѧѧ��, 2009,V35(5): 563-566
Chen Weihai, Song Weiyang, Rong Lixia, Liu Jingmeng.3D laser scanning algorithm with humanoid-eye function[J]  JOURNAL OF BEIJING UNIVERSITY OF AERONAUTICS AND A, 2009,V35(5): 563-566
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