Characterization and calibration of multiple 2D laser scanners

Jafri, Syed Riaz un Nabi; Shamim, Sheraz; Faraz, Sadia Muniza; Ahmed, Asif; Yasir, Syed Muhammad; Iqbal, Jamshed

doi:10.1371/journal.pone.0272063

Cited by 5 publications

(7 citation statements)

References 29 publications

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“…They present echoes due to every single part of the object or mechanisms outside water. Low-cost LIDAR sensors have issues with the transparency of the water and not enough resolution [ 10 , 11 , 12 , 14 , 15 , 16 ].…”

Section: Discussionmentioning

confidence: 99%

“…However, reflective, transparent, and dark objects can be problematic to this technology because they distort the light rays or do not provide enough reflected light for the camera to analyze [ 9 , 10 , 11 , 12 ]. Additionally, light only travels in a straight line, so parts of the object containing gaps or non-straight holes may create shadows in the projected light, preventing the object from being adequately scanned [ 8 ].…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Three-Dimensional Immersion Scanning Technique: A Scalable Low-Cost Solution for 3D Scanning Using Water-Based Fluid

Gonçalves

Haueisen

2023

Sensors

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Three-dimensional scanning technology has been traditionally used in the medical and engineering industries, but these scanners can be expensive or limited in their capabilities. This research aimed to develop low-cost 3D scanning using rotation and immersion in a water-based fluid. This technique uses a reconstruction approach similar to CT scanners but with significantly less instrumentation and cost than traditional CT scanners or other optical scanning techniques. The setup consisted of a container filled with a mixture of water and Xanthan gum. The object to be scanned was submerged at various rotation angles. A stepper motor slide with a needle was used to measure the fluid level increment as the object being scanned was submerged into the container. The results showed that the 3D scanning using immersion in a water-based fluid was feasible and could be adapted to a wide range of object sizes. The technique produced reconstructed images of objects with gaps or irregularly shaped openings in a low-cost fashion. A 3D printed model with a width of 30.7200 ± 0.2388 mm and height of 31.6800 ± 0.3445 mm was compared to its scan to evaluate the precision of the technique. Its width/height ratio (0.9697 ± 0.0084) overlaps the margin of error of the width/height ratio of the reconstructed image (0.9649 ± 0.0191), showing statistical similarities. The signal-to-noise ratio was calculated at around 6 dB. Suggestions for future work are made to improve the parameters of this promising, low-cost technique.

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Section: Discussionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Three-Dimensional Immersion Scanning Technique: A Scalable Low-Cost Solution for 3D Scanning Using Water-Based Fluid

Gonçalves

Haueisen

2023

Sensors

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“…Though many research works have highlighted the mapping applications using depth or stereo vision sensors but due to the nature of surveying jobs of under construction regions where lighting conditions are very poor, the selection of appropriate laser scanning device has emerged as the most vital step for developing the system. The authors have discussed the characteristics of compact, economical and low weight 2D laser scanners for indoor surveying applications [ 12 ]. Indoor mapping tasks require perception accuracy at significant scanning rates with low signal to noise ratio in order to efficiently model the surveyed vicinities using scanning rovers.…”

Section: Designing Of Low Cost Rover Based Mobile Scanning Systemmentioning

confidence: 99%

“…The designing and fabrication of rover has been carried out using simple and low cost procedures to develop the moving system applicable for surveying and mapping of buildings and their surroundings. To restrict the cost of the system, affordable RPLidar A1series 2D https://instock.pk/slamtec-rplidar-a1-360-laser-range-scanner-development-kit-rplidar-a1m8.html laser scanners have selected and tested which offer satisfactory scanning outputs if compared price to performance wise with peers for low range operations [ 12 ].…”

Section: Introductionmentioning

confidence: 99%

Compact rover surveying and laser scanning for BIM development

Jafri,

Hussain,

Ahmed

et al. 2024

PLoS ONE

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This paper presents a custom made small rover based surveying, mapping and building information modeling solution. Majority of the commercially available mobile surveying systems are larger in size which restricts their maneuverability in the targeted indoor vicinities. Furthermore their functional cost is unaffordable for low budget projects belonging to developing markets. Keeping in view these challenges, an economical indigenous rover based scanning and mapping system has developed using orthogonal integration of two low cost RPLidar A1 laser scanners. All the instrumentation of the rover has been interfaced with Robot Operating System (ROS) for online processing and recording of all sensorial data. The ROS based pose and map estimations of the rover have performed using Simultaneous Localization and Mapping (SLAM) technique. The perceived class 1 laser scans data belonging to distinct vicinities with variable reflective properties have been successfully tested and validated for required structural modeling. Systematically the recorded scans have been used in offline mode to generate the 3D point cloud map of the surveyed environment. Later the structural planes extraction from the point cloud data has been done using Random Sampling and Consensus (RANSAC) technique. Finally the 2D floor plan and 3D building model have been developed using point cloud processing in appropriate software. Multiple interiors of existing buildings and under construction indoor sites have been scanned, mapped and modelled as presented in this paper. In addition, the validation of the as-built models have been performed by comparing with the actual architecture design of the surveyed buildings. In comparison to available surveying solutions present in the local market, the developed system has been found faster, accurate and user friendly to produce more enhanced structural results with minute details.

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“…On the other hand, the process of obtaining the transformation from the robot hand to the camera referred to as the hand-eye transformation, forms what is known as the problem of hand-eye calibration [ 14 ]. The reliance of the hand-eye calibration on the robot [ 25 – 27 ] and camera information indicates the need for proper calibration of the robot and the camera [ 12 , 13 , 28 ].…”

Section: Introductionmentioning

confidence: 99%

Accuracy evaluation of hand-eye calibration techniques for vision-guided robots

Enebuse

Ibrahim²,

Foo³

et al. 2022

PLoS ONE

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Hand-eye calibration is an important step in controlling a vision-guided robot in applications like part assembly, bin picking and inspection operations etc. Many methods for estimating hand-eye transformations have been proposed in literature with varying degrees of complexity and accuracy. However, the success of a vision-guided application is highly impacted by the accuracy the hand-eye calibration of the vision system with the robot. The level of this accuracy depends on several factors such as rotation and translation noise, rotation and translation motion range that must be considered during calibration. Previous studies and benchmarking of the proposed algorithms have largely been focused on the combined effect of rotation and translation noise. This study provides insight on the impact of rotation and translation noise acting in isolation on the hand-eye calibration accuracy. This deviates from the most common method of assessing hand-eye calibration accuracy based on pose noise (combined rotation and translation noise). We also evaluated the impact of the robot motion range used during the hand-eye calibration operation which is rarely considered. We provide quantitative evaluation of our study using six commonly used algorithms from an implementation perspective. We comparatively analyse the performance of these algorithms through simulation case studies and experimental validation using the Universal Robot’s UR5e physical robots. Our results show that these different algorithms perform differently when the noise conditions vary rather than following a general trend. For example, the simultaneous methods are more resistant to rotation noise, whereas the separate methods are better at dealing with translation noise. Additionally, while increasing the robot rotation motion span during calibration enhances the accuracy of the separate methods, it has a negative effect on the simultaneous methods. Conversely, increasing the translation motion range improves the accuracy of simultaneous methods but degrades the accuracy of the separate methods. These findings suggest that those conditions should be considered when benchmarking algorithms or performing a calibration process for enhanced accuracy.

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Characterization and calibration of multiple 2D laser scanners

Cited by 5 publications

References 29 publications

Three-Dimensional Immersion Scanning Technique: A Scalable Low-Cost Solution for 3D Scanning Using Water-Based Fluid

Three-Dimensional Immersion Scanning Technique: A Scalable Low-Cost Solution for 3D Scanning Using Water-Based Fluid

Compact rover surveying and laser scanning for BIM development

Accuracy evaluation of hand-eye calibration techniques for vision-guided robots

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