The DLR multisensory Hand-Guided Device: the Laser Stripe Profiler

Strobl, Klaus H.; Sepp, Wolfgang; Wahl, Eric; Bodenmüller, Tim; Suppa, Michael; Seara, J.F.; Hirzinger, Gerd

doi:10.1109/robot.2004.1308105

Cited by 25 publications

(16 citation statements)

References 7 publications

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“…Laser stripe detection For robust laser stripe detection, we have implemented a slightly modified method based on an adaptively constructed RGB lookup table [9]. This approach yielded better results compared to our previous method [4].…”

Section: Robust Detection Of Laser Stripes In Video Sequence and Textmentioning

confidence: 99%

A 3D Impression Acquisition System for Forensic Applications

Gamage

Abhishek

Zheng

et al. 2013

Advances in Depth Image Analysis and Applications

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Abstract. This paper presents a method with which 3D images of tire track and footprint impressions at crime scenes can be captured with high fidelity, while capturing high resolution 2D color texture images simultaneously. The resulting device is portable, easy to use, is non-destructive of the evidence, and saves time at crime scenes. The same technique can also be used in the laboratory to create 3D depth images of suspect tires or shoe soles. Computer-based pattern matching technology can be used to assist in matching and comparison tasks. The device produces better quality data at a close range obtained in a larger field compared to existing devices. It avoids problems related to occlusions by using two lasers and can digitize long spans of impressions in one scan. The method includes a calibration method which is integrated into the scanning process on site, thus avoiding problems with pre-calibrated configurations becoming stale during transportation and setup.

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Section: Robust Detection Of Laser Stripes In Video Sequence and Textmentioning

confidence: 99%

A 3D Impression Acquisition System for Forensic Applications

Gamage

Abhishek

Zheng

et al. 2013

Advances in Depth Image Analysis and Applications

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“…• The DLR Laser Stripe Profiler (LSP) [3], [14] includes two laser beams that sequentially project stripes on a surface. These stripes are recorded by the cameras and reconstructed by triangulation-this is the dual, crosshair operation mode; operation with only one laser is still possible.…”

Section: The Dlr 3d-modelermentioning

confidence: 99%

“…So far, the external pose of the device was provided by either an external tracking system with infrared-reflecting markers mounted on the 3D-Modeler, 3 or by attaching it to a robotic manipulator or a passive arm. These options are very limiting.…”

Section: The Dlr 3d-modelermentioning

confidence: 99%

The self-referenced DLR 3D-modeler

Strobl

Mair

Bodenmüller

et al. 2009

2009 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-In the context of 3-D scene modeling, this work aims at the accurate estimation of the pose of a close-range 3-D modeling device, in real-time and passively from its own images. This novel development makes it possible to abandon using inconvenient, expensive external positioning systems. The approach comprises an ego-motion algorithm tracking natural, distinctive features, concurrently with customary 3-D modeling of the scene. The use of stereo vision, an inertial measurement unit, and robust cost functions for pose estimation further increases performance. Demonstrations and abundant video material validate the approach.

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“…Because of the dominant advantages, 3D scanning systems have become more and more popular with numerous applications such as 3-D printing, reverse engineering, quality inspection, prosthetics, etc. Specially, reverse engineering (RE) is an efficient approach to significantly model the product and reduces the product development cycle [1][2][3][4].…”

Section: Introductionmentioning

confidence: 99%

Development of Registration methodology to 3-D Point Clouds in Robot Scanning

et al. 2016

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Abstract. The problem of multi-view 3-D point clouds registration is investigated and effectively resolved by the developed methodology. A registration method is proposed to register two series of scans into an object model by using the proposed oriented-bounding-box (OBB) regional area-based descriptor. Robot 3-D scanning is often employed to generate set of point clouds of physical objects. The automated operation has to successively digitize view-dependent area-scanned point clouds from complex shaped objects by multi-view point clouds registration. To achieve this, the OBB regional area-based descriptor is employed to determine an initial transformation matrix and is then refined employing iterative closest point (ICP) algorithm. The developed method can be used to resolve the commonly encountered difficulty in accurately merging two neighbouring area-scanned images when no coordinate reference exists. The developed method has been verified through some experimental tests for its registration accuracy. Experimental results have preliminarily demonstrated the feasibility of the developed method.

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The DLR multisensory Hand-Guided Device: the Laser Stripe Profiler

Cited by 25 publications

References 7 publications

A 3D Impression Acquisition System for Forensic Applications

A 3D Impression Acquisition System for Forensic Applications

The self-referenced DLR 3D-modeler

Development of Registration methodology to 3-D Point Clouds in Robot Scanning

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