Application and performance of laser speckle odometry applied to a mobile industrial robot

Thomas O. H. Charrett; Sam J. Gibson; Ralph P. Tatam

doi:10.1117/12.2673177

15 August 2023 Application and performance of laser speckle odometry applied to a mobile industrial robot

Thomas O. H. Charrett, Sam J. Gibson, Ralph P. Tatam

Proceedings Volume 12618, Optical Measurement Systems for Industrial Inspection XIII; 126181G (2023) https://doi.org/10.1117/12.2673177
Event: SPIE Optical Metrology, 2023, Munich, Germany

Abstract

In this paper we report the application of a laser speckle odometer to a mobile industrial robot in a typical factory floor environment. The suitability of typical floor surfaces and features is assessed in terms of the ability to form speckle patterns with sufficient signal to noise for correlation-based processing. All tested surfaces including concrete, rubber tile, dried paint and oil stains, and hazard tapes were found to be suitable. A comparison of the velocimetry sensor output to the industrial robot’s internal SLAM and wheel encoder data is presented with good agreement of < 0.3mm/s at tested speeds of up to 250mm/s. Finally, a comparison of speckle odometry to the robot’s internal SLAM based navigation will be presented using a laser tracker to provide ground-truth measurement data. Both techniques were found to perform similarly, with errors of up to 80mm when traversing a 16m square path of 4m sides. The laser speckle odometry was however found to perform significantly better over the initial sides of the path with a maximum error of < 10mm in comparison to < 47mm for the robot’s internal odometry.

Conference Presentation

Citation Download Citation

Thomas O. H. Charrett, Sam J. Gibson, and Ralph P. Tatam "Application and performance of laser speckle odometry applied to a mobile industrial robot", Proc. SPIE 12618, Optical Measurement Systems for Industrial Inspection XIII, 126181G (15 August 2023); https://doi.org/10.1117/12.2673177

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