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This communication addresses the range accuracy of SPAD-based time-of-flight (TOF) sensors that employ laser pulse modulation. Two basic approaches are considered: indirect and direct TOF. We investigate confidence intervals and derive formulas for standard errors of the relative distance error for both approaches based on photon statistics.
We present a novel method for extrinsically calibrating a camera and a 2-D Laser Rangefinder (LRF) whose beams are invisible from the camera image. We show that point-to-plane constraints from a single observation of a V-shaped calibration pattern composed of two non-coplanar triangles suffice to uniquely constrain the relative pose between two sensors. Next, we present an approach to obtain solutions...
Micro Air Vehicles (MAVs) are becoming very popular at present time. They are lightweight, affordable and very flexible in terms of location. Thus, MAVs are predestined for rescue missions. They are able to explore areas that are difficult to access. Nonetheless, these rescue missions are very complex. They require a reliable autonomous operation system even in GNSS-denied areas. In order to assure...
This manuscript describes a UAV implemented with vision and laser based localization algorithm to track and land on a moving platform. Specifically, a pre-designed marker is installed on the moving platform and a downward facing monocular camera is mounted on the UAV for pose estimation. For a robust and precise UAV height estimation, a LiDAR scanning range finder is utilized to determine accurate...
Networks of laser range finders are a popular tool for monitoring large cluttered areas and to track people. Whenever multiple scanners are used for this purpose, one major problem is how to determine the relative positions of all the scanners. In this paper, we present a novel approach to calibrate a network of multiple planar laser range finders scanning horizontally. To robustly deal with the potentially...
This paper gives an insight in the preliminary results of an ongoing work about heterogeneous point feature estimation acquired from different type of sensors including structured light camera, stereo camera and a custom 3D laser range finder. The main goal of the paper is to compare the performance of the different type of local descriptors for indoor office environment. Several type of 3D features...
In this paper we have developed a technique for low level data fusion between laser and monocular color camera using occupancy grid framework in the context of internal representation of external environment for object detection. Based on a small variant of background subtraction technique we construct an occupancy grid for camera and fuse it with the one constructed for laser to get a combined view...
A simple and effective algorithm is Proposed for calibrating the extrinsic parameters among a camera and dual laser range sensors whose traces are invisible by using a specially designed checkerboard. On the basis of an analysis of reference coordinates, range data can be transformed into world coordinate, and then a linear solution can be obtained for the problem. The simulation results confirmed...
This paper presents a vision system based on the use of a CMOS camera. The vision system has demonstrated its potential for applications of weld pool monitoring. It has been demonstrated in this study that the arc light can be successfully eliminated and that a substantial amount of information can be obtained in real time e.g. metal transfer in TIG welding and weld pool geometry, position and development...
Based on the three-fiber-optic grid interferogram technique, a shape sensing approach has been proposed and demonstrated in this paper. The square and hexagon grid interferometric fringe pattern formed by the fiber-optic interferometric grid generator has been designed and performed. The designing and realizing methods of the fiber-optic interferometric grid pattern by using three PM fibers are discussed...
This article presents four different approaches for identifying persons during tracking. The ability to keep track of people is essential for mobile robots which provide services to humans. The tracking task is usually carried out using range measuring devices like laser range sensors, which provide spatial information only. They allow to estimate the trajectories of objects quite accurately, but...
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