Spatial data acquisition by laser scanning for robot or SHM task

Machine Vision: Approaches and Limitations

“…Table 2. Experimental results of point-coordinates measurement (Rivas et al, 2008) www.intechopen.com Also detailed analyzis of scanning aperture original construction (Fig. 16, 18) and principle deduce us to conclusion that it is possible to obtain measurement results with the same uncertainty from highlighted points of the different attitudes inside precertain angle of view.…”

“…Other than some existing 3-D technologies based on CCD 2-D image reconstruction, these 3-D sensors are based on laser scanning and geometric methodologies such as triangulation (Petrov et al, 1998), , (Tyrsa et al, 2006, b), (Rivas et al, 2008) and have achieved more and more attentions in machine vision application due to its robustness and simplicity. However, to expand functional application of these laser sensors, powerful algorithm addon is still needed to effectively process measured data from them, normally depending on individual application case.…”

“…For this final fine stage it is only acceptable to provide a metrological accuracy method. System optimized design according to open problem requirements will be explained on example of 3D laser Machine vision system, based on , (Tyrsa et al, 2006, b), (Rivas et al, 2008).…”

“…A prototype was made with the follows elements: an aluminum base bar with 1m of length, step motors to make vertical and horizontal scanning, source of light in this case a laser, a pair of mirrors with 45 degrees cut to redirection the light beam, in laser emisor part and scanning aperture (Fig.18), a photo receiver to convert light signal to electrical signal, a www.intechopen.com lens in the aperture part to get a fine convergence of light in photo receiver, a sensor (start) in the aperture part to detect and count revolutions of mirror2, and a interference filter to get only the selected source of light; this hardware is controlled by a laptop IBM Pentium II using "turbo c" program in MS-DOS where the measurement distances is stored (Fig.18), the connection to transfer data between hardware and software is by parallel port. The complete prototype (Rivas et al, 2008) is no longer than 1m, data can be stored in another system, and the prototype fabricated with all elements is shown in Fig.19 in action. Fig.…”

Resolution improvement of dynamic triangulation method for 3D vision system in robot navigation task

“…At this moment a laser triangle is formed for an instant and the Bij angle is calculated (See Fig. 1) [7]. Based on the law of sines as well as correlation between the sides and the height in a triangle represented on Fig.…”