Volume 35 Issue 5
May  2009
Turn off MathJax
Article Contents
Chen Weihai, Song Weiyang, Rong Lixia, et al. 3D laser scanning algorithm with humanoid-eye function[J]. Journal of Beijing University of Aeronautics and Astronautics, 2009, 35(5): 563-566. (in Chinese)
Citation: Chen Weihai, Song Weiyang, Rong Lixia, et al. 3D laser scanning algorithm with humanoid-eye function[J]. Journal of Beijing University of Aeronautics and Astronautics, 2009, 35(5): 563-566. (in Chinese)

3D laser scanning algorithm with humanoid-eye function

  • Received Date: 10 Aug 2008
  • Publish Date: 31 May 2009
  • 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.

     

  • loading
  • [1] 曾姝彦,张广军,李秀智.基于Gabor滤波器的图像目标识别方法[J].北京航空航天大学学报, 2006,32(8):954-957 Zeng Shuyan, Zhang Guangjun, Li Xiuzhi. Image target distinguish based on Gabor filters[J]. Journal of Beijing University of Aeronautics and Astronautics, 2006, 32(8):954-957(in Chinese) [2] Nishimoto, Kiyoshi , Sagami, et al. Three dimensional recognition of environments for a mobile robot using laser range finder Proceedings of the SICE Annual Conference, SICE Annual Conference. Japan:SICE, 2007:401-405 [3] Weingarten J, Siegwart R. EKF-based 3D SLAM for structured environment reconstruction Proc of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Canada:IEEE, 2005: 2089-2094 [4] Cole D M, Newman P M. Using laser range data for 3D SLAM in outdoor environments Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference. United States: IEEE, 2006:1556-1563 [5] Wulf O, Nuchter A, Hertzberg J, et al, Ground truth evaluation of large urban 6D SLAM Intelligent Robots and Systems, 2007. IROS 2007. IEEE/RSJ International Conference. United States: IEEE, 2007:650-657 [6] Brenneke C, Wulf O, Wagner B. Using 3D laser range data for SLAM in outdoor environments Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference. United States: IEEE, 2003:188-193 [7] Wulf O, Wager B. Fast 3D Scanning methods for laser measurement systems Inter Conf on Control Systems and Computer Science, Vol. 1. Bucharest Romania: , 2003: 312-317 [8] Pear N E. Range feature extraction during active sensor motion Intelligent Robots and Systems, 1997. IROS -97, Proceedings of the 1997 IEEE/RSJ International Conference. United States: IEEE, 1997:572-578 [9] Fan T, Adams M, Ibanez-Guzman J, et al, Pose invariant, robust feature extraction from data with a modified scale space approach Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference. United States: IEEE, 2004:3173-3179 [10] Park H W, Lee S Y, Chung W K, Obstacle detection and feature extraction using 2.5D range sensor system SICE-ICASE, 2006. International Joint Conference. Korea: , 2006:2000-2004
  • 加载中

Catalog

    通讯作者: 陈斌, bchen63@163.com
    • 1. 

      沈阳化工大学材料科学与工程学院 沈阳 110142

    1. 本站搜索
    2. 百度学术搜索
    3. 万方数据库搜索
    4. CNKI搜索

    Article Metrics

    Article views(4210) PDF downloads(984) Cited by()
    Proportional views
    Related

    /

    DownLoad:  Full-Size Img  PowerPoint
    Return
    Return