Performance Evaluation of a High-Frame Rate 3D Range Sensor for Construction Applications

Lytle, Alan M.; Katz, Itai; Saidi, Kamel S.

doi:10.22260/isarc2005/0018

Cited by 8 publications

(4 citation statements)

References 10 publications

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“…The instrument range uncertainty was determined as described in [8]. Measurements of an 18 % reflectivity, 40.5 cm (16 in) x 25.4 cm (10 in) planar target were taken at ranges of 1 m through 7 m at intervals of 1 m, at a zero angle of incidence.…”

Section: Sensor Evaluationmentioning

confidence: 99%

Development of a Probabilistic Sensor Model for a 3D Imaging System

Lytle

2007

Automation and Robotics in Construction &Amp;#8213; Proceedings of the 24th International Symposium on Automation and Robotics

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The use of high frame-rate 3D imaging systems for construction equipment control is part of a broader research effort at the National Institute of Standards and Technology investigating innovative technologies for automated construction, performance and evaluation of 3D imaging systems, and construction object recognition and tracking. A probabilistic measurement model is desired for these imaging systems to better understand and describe the instrument performance, and to create synthetic data sets for algorithm development, training and testing. The initial development of a probabilistic sensor model and 3D image simulator based on an open-source graphics package is presented in this paper. KEYWORDS3D Imaging System, Flash LADAR, 3D Range Camera, Sensor Model.

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Section: Sensor Evaluationmentioning

confidence: 99%

Development of a Probabilistic Sensor Model for a 3D Imaging System

Lytle

2007

Automation and Robotics in Construction &Amp;#8213; Proceedings of the 24th International Symposium on Automation and Robotics

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“…An initial performance assessment of the range camera is available in Lytle et al (2005). Figure 12 depicts a rendering of the range camera on RoboCrane during a docking sequence.…”

Section: Crane Collision Avoidance and Dockingmentioning

confidence: 99%

NIST research in autonomous construction

Lytle

Saidi

2006

Auton Robot

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The National Institute of Standards and Technology Construction Metrology and Automation Group is conducting ongoing research to provide standards, methodologies, and performance metrics that will assist the development of advanced systems to automate construction tasks. Initial research in this project, entitled "Performance of Innovative Technologies for Automated Construction," has focused on autonomous large-scale pick-and-place operations using the assembly of structural steel as a test operation. An Automated Construction Testbed (ACT) is under development to research advanced concepts in crane automation, site metrology, laser-based 3D imaging, construction object identification and tracking, sensor-based data exchange, site status visualization, and design data integration for autonomous system planning. This paper provides an overview of this research effort.

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“…A number of researchers have undertaken the evaluation of LADAR technologies [2], [3], [4], [5], while others have studied how to find and remove noise artifacts in flash LADAR range data [6]. A unified solution would use knowledge of the sensor's noise behavior to continuously monitor and optimize performance.…”

Section: Introductionmentioning

confidence: 99%

Training and optimization of operating parameters for flash LADAR cameras

Price

Kenney

Eastman

et al. 2007

Proceedings 2007 IEEE International Conference on Robotics and Automation

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Flash LADAR cameras based on continuous-wave, time-of-flight range measurement deliver fast 3D imaging for robot applications including mapping, localization, obstacle detection and object recognition. The accuracy of the range values produced depends on characteristics of the scene as well as dynamically adjustable operating parameters of the cameras. In order to optimally set these parameters during camera operation we have devised and implemented an optimization algorithm in a modular, extensible architecture for real-time applications including robot control. The approach uses two components: offline nonlinear optimization to minimize the range error for a training set of simple scenes followed by an online, real-time algorithm to reference the training data and set camera parameters. We quantify the effectiveness of our approach and highlight topics of interest for future research.

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Performance Evaluation of a High-Frame Rate 3D Range Sensor for Construction Applications

Cited by 8 publications

References 10 publications

Development of a Probabilistic Sensor Model for a 3D Imaging System

Development of a Probabilistic Sensor Model for a 3D Imaging System

NIST research in autonomous construction

Training and optimization of operating parameters for flash LADAR cameras

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