Adaptive laser range scanning

DOIResolve DOI: http://doi.org/10.1109/ROSE.2007.4373978
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TypeArticle
Proceedings titleProceedings of the International Workshop on Robotic and Sensors Environments
ConferenceIEEE International Workshop on Robotic and Sensors Environments ROSE 2007, 12-13 October 2007, Ottawa, Ontario, Canada
ISBN978-1-4244-1526-7
Pages114119; # of pages: 6
Subjectadaptive scanning; quality metrics; range imaging; automated scanning
AbstractWe present an approach to laser range scanning in which quality metrics are used to automatically reduce the number of measurements acquired from a scanner viewpoint. As part of this approach we present improved versions of the orientation, and reflectivity quality metrics, as well as introduce three quality metrics: spot size, re solvability, and planarity. These quality metrics are used to divide the total field of view from a scanner viewpoint into regions. A subset of these regions is then automatically identified as having a significant likelihood of producing useful measurements to augment the initial range image using quality metrics. The composite range image is then automatically generated from the initial scan and series of targeted subscans.
Publication date
PublisherIEEE
LanguageEnglish
AffiliationNRC Institute for Information Technology; National Research Council Canada
Peer reviewedYes
NPARC number21268126
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Record identifier7ff1ee94-007c-49af-ac9b-ddcc0d402bb8
Record created2013-04-25
Record modified2016-05-09
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