Validating a simulation of a single ray based laser scanner used in mobile robot applications

Emde, Markus; Roßmann, Jürgen

doi:10.1109/rose.2013.6698418

Cited by 8 publications

(3 citation statements)

References 9 publications

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“…In [15], a simulation of a laser scanner based on a single ray approach was presented. Based on this approach, the dynamic effects resulting from the carrier system's movement or other dynamic elements in the simulated scene can be considered in detail.…”

Section: Related Workmentioning

confidence: 99%

DepthLiDAR: Active Segmentation of Environment Depth Map Into Mobile Sensors

et al. 2021

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This paper presents a novel approach for creating virtual LiDAR scanners through the active segmentation of point clouds. The method employs top-view point cloud segmentation in virtual LiDAR sensors that can be applied to the intelligent behavior of autonomous agents. Segmentation is correlated with the visual tracking of the agent for localization in the environment and point cloud. Virtual LiDAR sensors with different characteristics and positions can then be generated. This method is referred to as the DepthLiDAR approach, and is rigorously evaluated to quantify its performance and determine its advantages and limitations. An extensive set of experiments is conducted using real and virtual LiDAR sensors to compare both approaches. The objective is to propose a novel method to incorporate spatial perception in warehouses, aiming to achieve Industry 4.0. Thus, it is tested in a low-scale warehouse to incorporate realistic features. The analysis of the experiments shows a measurement improvement of 52.24% compared to the conventional LiDAR.

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Section: Related Workmentioning

confidence: 99%

DepthLiDAR: Active Segmentation of Environment Depth Map Into Mobile Sensors

et al. 2021

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“…Earlier, to develop a new design of any existing model, the development of the prototype is done with the help of physical measurements. This process is very tedious and time-consuming, which also requires in-depth knowledge of clay lead design or foam lead design, but 3D scanner converts the existing data in much easier and faster way by generating a cloud data of the existing physical model which helps to develop the concept [6,7]. 3D scanning gives a head start to the developer by producing a point cloud data which eventually save time instead of designing a product from scratch in the product development stage.…”

Section: Introductionmentioning

confidence: 99%

“…The process begins with scanning the physical work piece and then transferring the data into CAD software for modelling. In general, the designer works on existing component by fitting the curves into it or around it but here components are scanned, and curves are incorporated [7] with the scanned design which results in best fit curves [8]. The process of creating CAD model by using the existing physical model or existing CAD model is known as reverse engineering or reverses modeling [9].…”

Section: Introductionmentioning

confidence: 99%

3 D scanner integration with product development

Kumar¹,

Shuaib²,

Tanveer³

et al. 2018

IJET

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Purpose: The purpose of this paper is to give a basic understanding of the working and use of 3 D Scanner in reverse engineering, shape reconstruction and product designing. It discusses the use of 3 D Scanner in product development field and also presents a method to acquire the required data of existing component through which we can develop the new product. Design/methodology/approach: To understand the fundamental working principle of the scanner, an algorithm is discussed which shows the data collection procedure of the scanner. The obtained data is verified with existing CAD data with the help of software, and an example is also discussed to explain the process. Findings: This study shows that the integration of scanner technology with product development cycle will help to improve the development process of any product, as this technology provides benefits through reduction in time, money and resources. Research limitations/implications:The speed and accuracy of the Scanner depends upon the method adopted to capture the data. Practical implications -Reverse engineering is a process of change an existing product into a new product. Development of an existing product we required the three-dimensional data of the product. The data acquisition process is critical and time-consuming. The design expert uses different approaches to collect the necessary parameters. This study discusses one of the data acquisition technology, i.e. 3-dimensional scanner. Originality/value -In this article, we are discussing one of the original methods to show the integration of scanner technology with product development.

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A new benchmark for pose estimation with ground truth from virtual reality

Schlette

Buch

Aksoy

et al. 2014

Prod. Eng. Res. Devel.

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The development of programming paradigms for industrial assembly currently gets fresh impetus from approaches in human demonstration and Programmingby-Demonstration (PbD). Major low-and mid-level prerequisites for machine vision and learning in these intelligent robotic applications are pose estimation, stereo reconstruction and action recognition. As a basis for the machine vision and learning involved, pose estimation is used for deriving object positions and orientations and thus target frames for robot execution. Our contribution introduces and applies a novel benchmark for typical multi-sensor setups and algorithms in the field of demonstration-based automated assembly. The benchmark platform is equipped with a multi-sensor setup consisting of stereo cameras and depth scanning devices (see Fig. 1). The dimensions and abilities of the platform have been chosen in order to reflect typical manual assembly tasks. Following the eRobotics methodology, a simulatable 3D representation of this platform was modelled in Virtual Reality (VR). Based on a detailed camera and sensor simulation, we generated a set of benchmark images and point clouds with controlled levels of noise as well as ground truth data such as object positions and time stamps. We demonstrate the application of the benchmark to evaluate our latest developments in pose estimation, stereo reconstruction and action recognition and publish the benchmark data for objective comparison of sensor setups and algorithms in industry.

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Validating a simulation of a single ray based laser scanner used in mobile robot applications

Cited by 8 publications

References 9 publications

DepthLiDAR: Active Segmentation of Environment Depth Map Into Mobile Sensors

DepthLiDAR: Active Segmentation of Environment Depth Map Into Mobile Sensors

3 D scanner integration with product development

A new benchmark for pose estimation with ground truth from virtual reality

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