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A Laser Time-of-Flight Range Scanner for Robotic Vision.

R A Jarvis1

  • 1Department of Computer Science, Australian National University, Canberra ACT 2600, Australia.

IEEE Transactions on Pattern Analysis and Machine Intelligence
|August 27, 2011
PubMed
Summary
This summary is machine-generated.

This study presents a laser time-of-flight range scanner for 3D scene analysis in robotics. It achieves 64x64 resolution in 4 seconds, reducing computational load for robotic manipulation.

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Area of Science:

  • Robotics
  • Computer Vision
  • 3D Sensing

Background:

  • Vision-driven robotic manipulation requires accurate 3D scene analysis.
  • Computational burden for object placement and extent determination is significant.
  • Direct range finding can alleviate these computational demands.

Purpose of the Study:

  • To describe a laser time-of-flight range scanner for 3D scene analysis.
  • To evaluate its performance in terms of resolution, speed, and accuracy.
  • To assess its utility in supporting vision-driven robotic manipulation.

Main Methods:

  • Development of a laser time-of-flight range scanner.
  • Acquisition of range data with 64x64 spatial resolution.
  • Analysis of range accuracy, scan time, and signal amplitude dependency.

Main Results:

  • A range scanner capable of 64x64 resolution in 4 seconds was developed.
  • Current accuracy requires 100 samples/point for ±2 cm precision, with a 40s scan time.
  • Range determination is dependent on returned signal amplitude, indicating a considerable dynamic intensity range.

Conclusions:

  • The developed laser time-of-flight range scanner can reduce computational burden for 3D scene analysis.
  • Accuracy can be improved by increasing scan time.
  • Preliminary results show potential for supporting robotic manipulation tasks.