Performance of a scanning laser line striper in outdoor lighting

Christoph Mertz

doi:10.1117/12.2016003

17 May 2013 Performance of a scanning laser line striper in outdoor lighting

Christoph Mertz

Proceedings Volume 8741, Unmanned Systems Technology XV; 87410T (2013) https://doi.org/10.1117/12.2016003
Event: SPIE Defense, Security, and Sensing, 2013, Baltimore, Maryland, United States

Abstract

For search and rescue robots and reconnaissance robots it is important to detect objects in their vicinity. We have developed a scanning laser line striper that can produce dense 3D images using active illumination. The scanner consists of a camera and a MEMS-micro mirror based projector. It can also detect the presence of optically difficult material like glass and metal. The sensor can be used for autonomous operation or it can help a human operator to better remotely control the robot. In this paper we will evaluate the performance of the scanner under outdoor illumination, i.e. from operating in the shade to operating in full sunlight. We report the range, resolution and accuracy of the sensor and its ability to reconstruct objects like grass, wooden blocks, wires, metal objects, electronic devices like cell phones, blank RPG, and other inert explosive devices. Furthermore we evaluate its ability to detect the presence of glass and polished metal objects. Lastly we report on a user study that shows a significant improvement in a grasping task. The user is tasked with grasping a wire with the remotely controlled hand of a robot. We compare the time it takes to complete the task using the 3D scanner with using a traditional video camera.

Citation Download Citation

Christoph Mertz "Performance of a scanning laser line striper in outdoor lighting", Proc. SPIE 8741, Unmanned Systems Technology XV, 87410T (17 May 2013); https://doi.org/10.1117/12.2016003

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