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In this study, we present a novel system for crowd surveillance and quantified analysis based on laser range scanners. By mounting a laser scanner at a swinging platform, the spatial information of passengers inside the area of interest can be reconstructed in a form of 3D points. Multiple laser scanners are integrated together by semi-auto calibration procedures. Background map is generated through...
Recently, many researchers have made efforts for accurate calibration of a Time-of-Flight camera to fully utilize its provided depth values. Yet most previous works focus mainly on intrinsic calibration by modeling its systematic errors and noises while extrinsic calibration is also an important factor when constructing sensor fusion system. In this paper, we present a calibration process that can...
In this paper, we propose a stereoscopic checkerboard based method for calibration of a 3D laser range finder (LRF) and a camera. Mixed pixels have great negative impact when extracting featured corners artificially, so we designed stereoscopic checkerboard to overcome this defect. By using depth division to separate the upper surface of checkers, we can successfully eliminate the impact of mixed...
According to planar projective transformation theory, a calibration method of the three dimensional (3D) laser measurement system is put forward to application in this paper. A key contribution of the method lies in the derivation of transformation relations that describe the same point in three defined coordinate systems with respect to the rotating characteristic of two scanning planes and its calibration...
This paper describes a computer vision method for reconstruction of three-dimensional object, this method can reconstruct the object real time and has high precision. In this approach the structured light is used and the light beam is projected to the surface of object. This work is composed of three parts: the first is the introduction of the light-section method and the experimental platform based...
In the field of environment perception, image segmentation and region classification methods are of high interest. For the development of assistance systems based on the environmental situation, reliable information must be acquired. To achieve robust object detection, algorithms based on laser scanners or time of flight (tof) cameras outperform standard video image based methods. However, for region...
This paper presents a new 3D positioning method of setting up a network of rotating laser automatic theodolites (RLAT) for the large scale metrology. In this system, each RLAT consists of two laser fans rotating about its own Z axis at constant speed and an optical sensor is used to detect the pulse signals of sweeping laser fans. Instead of estimating indirectly the two space angle of laser fans,...
Interactivity is one of the key challenges for immersive applications like gaming. Manufacturers have been working towards interfaces that are driven by a device (e.g. a Wiimote) or interfaces that are controlled by a camera with a subsequent computer vision module. Both approaches have unique advantages, but they do not permit to localize users in the scene with an appropriate accuracy. Therefore,...
The three-Dimensional models of parts are the basis of virtual maintenance. In this paper, a three-Dimensional modeling system based on laser scanning is designed, and a novel calibration method is proposed. In calibration, a standard ball with known dimension is translated linearly and cut by the laser plane. The profile of the laser stripe is detected in subpixel precision. And sufficient accurate...
A robot based 3D laser scanning system which a structured light vision sensor is mounted on the 6 degree-of-freedom robot is proposed to overcome the disadvantages of coordinate measuring machine (CMM). As to calibrate the vision sensor, a novel procedure that utilizes the robot to generate sufficient calibration points with high accuracy is proposed. An improved Tsai's method and a multilayer perceptron...
We analyze the measuring principle and propose a calibration technique based on perpendicular cross-lines for line structured light 3D scanner. By use of straight line features and perpendicular constraints of the cross-lines, the technique doesn't require the world coordinates of those feature points on calibration template. The turntable of the 3D scanner rotates with the calibration template. We...
A new approach to the extrinsic calibration of a camera and 3D laser range finder in complex industrial workplace is presented in this paper. This calibration approach is based on line correspondences and does not need any calibration pattern. With the constraints of projection line produced by laser scanning points in intensity image, the nonlinear optimization function of the extrinsic parameters...
This paper describes a novel 3 dimensional color measurement system. After the sensors and corresponding data processing board were presented, based on a calibration board with right-angled triangle outline, two calibration algorithms are presented to obtain the extrinsic parameters for sensors. One is the calibration algorithm between 2 dimensional laser range finder (2D LRF), the other is for 2D...
Considering the hidden danger in the finished stopes in underground metal mines in China, a new cavity data acquisition method based on 3D laser scanning technology is proposed in Dahongshan mine district. This technology uses contactless measurement mode, by which not only the geometric parameter of cavity such as length, area, volume, deformation of roof and wall rock can be gained accurately, but...
The combined use of 3D laser range finders (LRF) and cameras is increasingly common in the navigation application for autonomous mobile robots. The integration of laser range information and images requires the estimation of the Euclidean 3-dimensional transformation between the coordinate systems of the LRF and the cameras. This paper describes a new and efficient method to perform the extrinsic...
The approach for structure light 3D measurement is widely used in many fields. Objects are measured by immobile cameras and lasers in some traditional methods, so it isnpsilat portable and flexible. Then this paper proposes a handheld and multi-angle approach for measuring objects. The new approach is different from traditional methods. It doesnpsilat require sophisticated mechanically-driven system,...
This paper presents a novel approach for single laser stripe profiler calibration. It is well suited for use without specialized knowledge of 3D geometry or computer vision. The technique only requires the camera to observe a planar pattern intersecting with the laser plane shown at a few (at least three) different orientations. The planar pattern can be freely moved. The motion need not be known...
In this paper we want to start the discussion on whether image based 3D modelling techniques can possibly be used to replace LIDAR systems for outdoor 3D data acquisition. Two main issues have to be addressed in this context: (i) camera calibration (internal and external) and (ii) dense multi-view stereo. To investigate both, we have acquired test data from outdoor scenes both with LIDAR and cameras...
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