• 제목/요약/키워드: Camera-laser scanner

검색결과 67건 처리시간 0.032초

3D Reconstruction of Urban Building using Laser range finder and CCD camera

  • Kim B. S.;Park Y. M.;Lee K. H.
    • 대한원격탐사학회:학술대회논문집
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    • 대한원격탐사학회 2004년도 Proceedings of ISRS 2004
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    • pp.128-131
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    • 2004
  • In this paper, we describe reconstructed 3D-urban modeling techniques for laser scanner and CCD camera system, which are loading on the vehicle. We use two laser scanners, the one is horizon scanner and the other is vertical scanner. Horizon scanner acquires the horizon data of building for localization. Vertical scan data are main information for constructing a building. We compared extraction of edge aerial image with laser scan data. This method is able to correct the cumulative error of self-localization. Then we remove obstacles of 3D-reconstructed building. Real-texture information that is acquired with CCD camera is mapped by 3D-depth information. 3D building of urban is reconstructed to 3D-virtual world. These techniques apply to city plan. 3D-environment game. movie background. unmanned-patrol etc.

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무인잠수정을 위한 효과적이고 유연한 설치 성능을 지닌 수중 레이저스캐너 개발 (Development of Underwater Laser Scanner with Efficient and Flexible Installation for Unmanned Underwater Vehicle)

  • 이영준;이윤건;채준보;최현택;여태경
    • 한국해양공학회지
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    • 제32권6호
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    • pp.511-517
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    • 2018
  • This paper proposes a vision-based underwater laser scanner with separate structures for an underwater camera and a line laser projector. Because the two devices can be adaptively placed regardless of the features of the unmanned underwater vehicle (UUV), the scanner has significant advantages in relation to its availability and flexibility. Position calibration between the underwater camera and laser projector guarantees a 3D measuring performance with high accuracy. To verify the proposed underwater laser scanner, a test-bed system was manufactured, which consisted of the laser projector, camera, Pan&Tilt, and Attitude and Heading Reference System (AHRS). A camera-laser calibration test and simple 3D reconstruction test were performed in a water tank and the experimental results are reported.

레이저 구조광 영상기반 3차원 스캐너 개발 (Development of 3D Scanner Based on Laser Structured-light Image)

  • 고영준;이수영;이준오
    • 제어로봇시스템학회논문지
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    • 제22권3호
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    • pp.186-191
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    • 2016
  • This paper addresses the development of 3D data acquisition system (3D scanner) based laser structured-light image. The 3D scanner consists of a stripe laser generator, a conventional camera, and a rotation table. The stripe laser onto an object has distortion according to 3D shape of an object. By analyzing the distortion of the laser stripe in a camera image, the scanner obtains a group of 3D point data of the object. A simple semiconductor stripe laser diode is adopted instead of an expensive LCD projector for complex structured-light pattern. The camera has an optical filter to remove illumination noise and improve the performance of the distance measurement. Experimental results show the 3D data acquisition performance of the scanner with less than 0.2mm measurement error in 2 minutes. It is possible to reconstruct a 3D shape of an object and to reproduce the object by a commercially available 3D printer.

거울 및 단일 카메라를 이용한 3차원 발 스캐너 (A 3D Foot Scanner Using Mirrors and Single Camera)

  • 정성엽;박상근
    • 한국CDE학회논문집
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    • 제16권1호
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    • pp.11-20
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    • 2011
  • A structured beam laser is often used to scan object and make 3D model. Multiple cameras are inevitable to see occluded areas, which is the main reason of the high price of the scanner. In this paper, a low cost 3D foot scanner is developed using one camera and two mirrors. The camera and two mirrors are located below and above the foot, respectively. Occluded area, which is the top of the foot, is reflected by the mirrors. Then the camera measures 3D point data of the bottom and top of the foot at the same time. Then, the whole foot model is reconstructed after symmetrical transformation of the data reflected by mirrors. The reliability of the scan data depends on the accuracy of the parameters between the camera and the laser. A calibration method is also proposed and verified by experiments. The results of the experiments show that the worst errors of the system are 2 mm along x, y, and z directions.

Development of Color 3D Scanner Using Laser Structured-light Imaging Method

  • Ko, Youngjun;Yi, Sooyeong
    • Current Optics and Photonics
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    • 제2권6호
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    • pp.554-562
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    • 2018
  • This study presents a color 3D scanner based on the laser structured-light imaging method that can simultaneously acquire 3D shape data and color of a target object using a single camera. The 3D data acquisition of the scanner is based on the structured-light imaging method, and the color data is obtained from a natural color image. Because both the laser image and the color image are acquired by the same camera, it is efficient to obtain the 3D data and the color data of a pixel by avoiding the complicated correspondence algorithm. In addition to the 3D data, the color data is helpful for enhancing the realism of an object model. The proposed scanner consists of two line lasers, a color camera, and a rotation table. The line lasers are deployed at either side of the camera to eliminate shadow areas of a target object. This study addresses the calibration methods for the parameters of the camera, the plane equations covered by the line lasers, and the center of the rotation table. Experimental results demonstrate the performance in terms of accurate color and 3D data acquisition in this study.

어안 렌즈와 레이저 스캐너를 이용한 3차원 전방향 영상 SLAM (3D Omni-directional Vision SLAM using a Fisheye Lens Laser Scanner)

  • 최윤원;최정원;이석규
    • 제어로봇시스템학회논문지
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    • 제21권7호
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    • pp.634-640
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    • 2015
  • This paper proposes a novel three-dimensional mapping algorithm in Omni-Directional Vision SLAM based on a fisheye image and laser scanner data. The performance of SLAM has been improved by various estimation methods, sensors with multiple functions, or sensor fusion. Conventional 3D SLAM approaches which mainly employed RGB-D cameras to obtain depth information are not suitable for mobile robot applications because RGB-D camera system with multiple cameras have a greater size and slow processing time for the calculation of the depth information for omni-directional images. In this paper, we used a fisheye camera installed facing downwards and a two-dimensional laser scanner separate from the camera at a constant distance. We calculated fusion points from the plane coordinates of obstacles obtained by the information of the two-dimensional laser scanner and the outline of obstacles obtained by the omni-directional image sensor that can acquire surround view at the same time. The effectiveness of the proposed method is confirmed through comparison between maps obtained using the proposed algorithm and real maps.

CCD카메라와 레이저 센서를 조합한 지능형 로봇 빈-피킹에 관한 연구 (A Study on Intelligent Robot Bin-Picking System with CCD Camera and Laser Sensor)

  • 김진대;이재원;신찬배
    • 한국정밀공학회지
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    • 제23권11호
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    • pp.58-67
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    • 2006
  • Due to the variety of signal processing and complicated mathematical analysis, it is not easy to accomplish 3D bin-picking with non-contact sensor. To solve this difficulties the reliable signal processing algorithm and a good sensing device has been recommended. In this research, 3D laser scanner and CCD camera is applied as a sensing device respectively. With these sensor we develop a two-step bin-picking method and reliable algorithm for the recognition of 3D bin object. In the proposed bin-picking, the problem is reduced to 2D intial recognition with CCD camera at first, and then 3D pose detection with a laser scanner. To get a good movement in the robot base frame, the hand eye calibration between robot's end effector and sensing device should be also carried out. In this paper, we examine auto-calibration technique in the sensor calibration step. A new thinning algorithm and constrained hough transform is also studied for the robustness in the real environment usage. From the experimental results, we could see the robust bin-picking operation under the non-aligned 3D hole object.

On-road Vehicle Tracking using Laser Scanner with Multiple Hypothesis Assumption

  • Ryu, Kyung-Jin;Park, Seong-Keun;Hwang, Jae-Pil;Kim, Eun-Tai;Park, Mignon
    • International Journal of Fuzzy Logic and Intelligent Systems
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    • 제9권3호
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    • pp.232-237
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    • 2009
  • Active safety vehicle devices are getting more attention recently. To prevent traffic accidents, the environment in front and even around the vehicle must be checked and monitored. In the present applications, mainly camera and radar based systems are used as sensing devices. Laser scanner, one of the sensing devices, has the advantage of obtaining accurate measurement of the distance and the geometric information about the objects in the field of view of the laser scanner. However, there is a problem that detecting object occluded by a foreground one is difficult. In this paper, criterions are proposed to manage this problem. Simulation is conducted by vehicle mounted the laser scanner and multiple-hypothesis algorithm tracks the candidate objects. We compare the running times as multi-hypothesis algorithm parameter varies.

카메라-레이저스캐너 상호보완 추적기를 이용한 이동 로봇의 사람 추종 (Person-following of a Mobile Robot using a Complementary Tracker with a Camera-laser Scanner)

  • 김형래;최학남;이재홍;이승준;김학일
    • 제어로봇시스템학회논문지
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    • 제20권1호
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    • pp.78-86
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    • 2014
  • This paper proposes a method of tracking an object for a person-following mobile robot by combining a monocular camera and a laser scanner, where each sensor can supplement the weaknesses of the other sensor. For human-robot interaction, a mobile robot needs to maintain a distance between a moving person and itself. Maintaining distance consists of two parts: object tracking and person-following. Object tracking consists of particle filtering and online learning using shape features which are extracted from an image. A monocular camera easily fails to track a person due to a narrow field-of-view and influence of illumination changes, and has therefore been used together with a laser scanner. After constructing the geometric relation between the differently oriented sensors, the proposed method demonstrates its robustness in tracking and following a person with a success rate of 94.7% in indoor environments with varying lighting conditions and even when a moving object is located between the robot and the person.