19 January 2009 Three dimensional map construction using a scanning laser range finder
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Abstract
This paper presents the development of a three-dimensional environment reconstruction system using a laser range finder. The original design of URG-04LX laser range finder, provided by Hokuyo Inc., is efficient in providing two-dimensional distance information. To enhance the capability of the device, we developed a rotation mechanism to provide it a sweep motion for stereo data collection. Geometric equations are derived that includes parameters of misalignment that are unavoidable in manufacturing and assembling. The parameters are calibrated according to practical data measurement of three relatively-perpendicular planes. The calibration is formulated as an optimization problem solved using the Nelder- Mead simplex algorithm. Validity of the calibration scheme is demonstrated by the reconstruction of several real-world scenes.
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Yau-Zen Chang, Yau-Zen Chang, Shih-Tseng Lee, Shih-Tseng Lee, } "Three dimensional map construction using a scanning laser range finder", Proc. SPIE 7239, Three-Dimensional Imaging Metrology, 72390V (19 January 2009); doi: 10.1117/12.814843; https://doi.org/10.1117/12.814843
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