Optimization of 3D laser scanning speed by use of combined variable step

被引：40

作者：

Garcia-Cruz, X. M. ^{[1
,3
]}

Sergiyenko, O. Yu. ^{[1
]}

Tyrsa, Vera ^{[2
]}

Rivas-Lopez, M. ^{[1
]}

Hernandez-Balbuena, D. ^{[1
]}

Rodriguez-Quinonez, J. C. ^{[1
]}

Basaca-Preciado, L. C. ^{[1
]}

Mercorelli, P. ^{[4
]}

机构：

[1] Univ Autonoma Baja California, Engn Inst & Fac, Lab Optoelect & Automat Measurements, Mexicali 21280, Baja California, Mexico

[2] Kharkov Natl Automobile & Highway Univ, Automat Dept, Kharkov, Ukraine

[3] Inst Tecnol Mexicali, Mech Lab, Mexicali 21396, Baja California, Mexico

[4] Leuphana Univ Lueneburg, Inst Prod & Proc Innovat, Luneburg, Germany

来源：

OPTICS AND LASERS IN ENGINEERING | 2014年 / 54卷

关键词：

Technical vision system; Dynamic Triangulation; Scene; Scanning step; Neural Network; DYNAMICS;

D O I：

10.1016/j.optlaseng.2013.08.011

中图分类号：

O43 [光学];

学科分类号：

070207 ; 0803 ;

摘要：

The problem of 3D TVS slow functioning caused by constant small scanning step becomes its solution in the presented research. It can be achieved by combined scanning step application for the fast search of n obstacles in unknown surroundings. Such a problem is of keynote importance in automatic robot navigation. To maintain a reasonable speed robots must detect dangerous obstacles as soon as possible, but all known scanners able to measure distances with sufficient accuracy are unable to do it in real time. So, the related technical task of the scanning with variable speed and precise digital mapping only for selected spatial sectors is under consideration. A wide range of simulations in MATLAB 7.12.0 of several variants of hypothetic scenes with variable n obstacles in each scene (including variation of shapes and sizes) and scanning with incremented angle value (0.6 degrees up to 15 degrees) is provided. The aim of such simulation was to detect which angular values of interval still permit getting the maximal information about obstacles without undesired time losses. Three of such local maximums were obtained in simulations and then rectified by application of neuronal network formalism (Levenberg-Marquradt Algorithm). The obtained results in its turn were applied to MET (Micro-Electro-mechanical Transmission) design for practical realization of variable combined step scanning on an experimental prototype of our previously known laser scanner. (C) 2013 Elsevier Ltd. All rights reserved.

引用

页码：141 / 151

页数：11

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