3D object recognition using a mobile laser range finder.
Journal
IEEE International Workshop on Intelligent Robots and Systems '90, Towards a New Frontier of Applications, Proceedings. IROS 1990, July 3-6, 1990, Ibaraki, Japan
Pages
673-677
Date Issued
1990
Author(s)
Scherp, Ralph S.
Abstract
Presents a 3D object recognition system with emphasis on an optimum placement strategy for a mobile 3D range sensor. The theoretical aspects leading to the development of the 3D sensor placement paradigm are presented and described. The authors use a triangulation type laser of range finder in which a CCD based imaging device is utilized to view a plane of laser light bounced from a sweeping mirror. The sensor characteristics are described and modeled. A set of criteria for use in constraining the possible sensor site location for future scans is presented. These constraint conditions are essential to drive the actual sensor placement algorithm for 3D object recognition.>
Type
conference paper