Intelligent multisensor concept for image-guided 3D object measurement with scanning laser radar

Juergen Weber

doi:10.1117/12.216943

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23 August 1995 Intelligent multisensor concept for image-guided 3D object measurement with scanning laser radar

Juergen Weber

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Proceedings Volume 2572, Remote Sensing and Reconstruction for Three-Dimensional Objects and Scenes; (1995) https://doi.org/10.1117/12.216943
Event: SPIE's 1995 International Symposium on Optical Science, Engineering, and Instrumentation, 1995, San Diego, CA, United States

Abstract

This paper presents an intelligent multisensor concept for measuring 3D objects using an image guided laser radar scanner. The field of application are all kinds of industrial inspection and surveillance tasks where it is necessary to detect, measure and recognize 3D objects in distances up to 10 m with high flexibility. Such applications might be the surveillance of security areas or container storages as well as navigation and collision avoidance of autonomous guided vehicles. The multisensor system consists of a standard CCD matrix camera and a 1D laser radar ranger which is mounted to a 2D mirror scanner. With this sensor combination it is possible to acquire gray scale intensity data as well as absolute 3D information. To improve the system performance and flexibility, the intensity data of the scene captured by the camera can be used to focus the measurement of the 3D sensor to relevant areas. The camera guidance of the laser scanner is useful because the acquisition of spatial information is relatively slow compared to the image sensor's ability to snap an image frame in 40 ms. Relevant areas in a scene are located by detecting edges of objects utilizing various image processing algorithms. The complete sensor system is controlled by three microprocessors carrying out the 3D data acquisition, the image processing tasks and the multisensor integration. The paper deals with the details of the multisensor concept. It describes the process of sensor guidance and 3D measurement and presents some practical results of our research.

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Juergen Weber "Intelligent multisensor concept for image-guided 3D object measurement with scanning laser radar", Proc. SPIE 2572, Remote Sensing and Reconstruction for Three-Dimensional Objects and Scenes, (23 August 1995); https://doi.org/10.1117/12.216943

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