19 May 2005 Extending high-angular accuracy to a near omni-directional 3D range sensor
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The emergence of tripod-mounted lidar sensors as a viable method of 3D data collection has provided users with the ability to interrogate structures using high-resolution, metrically accurate 3D measurements. As with any measurement device, the accuracy of the collected data is of paramount importance. Angular accuracy is a crucial parameter in the overall performance of a 3D range sensor. This is particularly true in long-range applications where angular errors would be amplified proportionately to the target range. Consequently, angular accuracy is the determining factor in the accuracy of a long-range tripod mounted laser scanner. Recent advances in laser scanning technologies enabled significant increases in the addressable field-of-view (FOV) of 3D scanners. The most common embodiment of such systems incorporates two axes-rotation mechanisms. Typically, a rapidly oscillating mirror directs a laser beam into a “sheet” of light covering a vertical plane. This plane, in turn, is rotated around a vertical axis to provide nearly omni-directional coverage of the scene. A 3D measurement system's angular accuracy depends on two angular characteristics: angular resolution and angular repeatability. The systems described above could suffer on both dimensions. In this case the angular resolution is determined by the available angular position sensors yielding angular increments that are too crude for long-range 3D measurements. Similarly, angular repeatability of the available actuators suffers from non-linearities and other mechanical instabilities. The combined results are a data set that is less accurate than what is achievable in small FOV systems of similar configuration.
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Albert Iavarone, Albert Iavarone, Reda Fayek, Reda Fayek, } "Extending high-angular accuracy to a near omni-directional 3D range sensor", Proc. SPIE 5791, Laser Radar Technology and Applications X, (19 May 2005); doi: 10.1117/12.604426; https://doi.org/10.1117/12.604426

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