THE OPTICAL MEASURING DEVICE FOR THE AUTONOMOUS EXPLORATION AND MAPPING OF UNKNOWN ENVIRONMENTS
Klíčová slova:
triangulation method; camera; laser; space mapping; space exploration; image; image processingAbstrakt
This article describes the developed rangefinder measurement device suitable for automatic mapping systems. This device uses a high-quality optical capture sensor and a laser beam. In this article are presented the measurement results and the distance measurement algorithms based on image processing methods. This system is mainly used for distance measurement, but it is suitable for automatic exploration and mapping systems too. The advantage of the developed system is a distance measurement process processing each point on the detected vertical laser beam and the possibility of using low-cost components.
Stažení
Reference
(1) Konolige, K.; Augenbraun, J.; Donaldson, N.; Fiebig, C.; Shah, P. A low-cost laser distance
sensor, Robotics and Automation, 2008. ICRA 2008. IEEE International Conference on , vol., no.,
pp.3002-3008, 19-23 May 2008
(2) Ik-Hwan Kim; Do-Eun Kim; You-Sung Cha; Kwang-hee Lee; Tae-Yong Kuc An
embodiment of stereo vision system for mobile robot for real-time measuring distance and
object tracking, Control, Automation and Systems, 2007. ICCAS '07. International
Conference on , vol., no., pp.1029-1033, 17-20 Oct. 2007
(3) M.-C. Amann et al. Laser ranging: a critical review of usual techniques for distance
measurement, Opt. Eng. 40 (1), 10 (2001)
(4) Ohya, A.; Nagashima, Y.; Yuta, S.-I. Exploring unknown environment and map
construction using ultrasonic sensing of normal direction of walls Robotics and
Automation, 1994. Proceedings., 1994 IEEE International Conference on , vol., no.,
pp.485-492 vol.1, 8-13 May 1994
(5) Duckett, T.; Nehmzow, U. Exploration of unknown environments using a compass,
topological map and neural network, Computational Intelligence in Robotics and
Automation, 1999. CIRA '99. Proceedings. 1999 IEEE International Symposium on , vol.,
no., pp.312-317, 1999
(6) Thrun, S.; Thayer, S.; Whittaker, W.; Baker, C.; Burgard, W.; Ferguson, D.; Hahnel, D.;
Montemerlo, D.; Morris, A.; Omohundro, Z.; Reverte, C.; Whittaker W Autonomous
exploration and mapping of abandoned mines, Robotics & Automation Magazine, IEEE ,
vol.11, no.4, pp. 79- 91, Dec. 2004
(7) Sonka, M., Hlavac, V., Boyle, R., “Image processing, analysis, and machine vision”,
Toronto, Ont.: Thompson Learning, 2008, 3rd edition (October 5, 1999), ISBN:
X
(8) Yongjie Zheng; Taylor, R.N. Taming changes With 1.x-Way architecture-implementation
mapping, Automated Software Engineering (ASE), 2011 26th IEEE/ACM International
Conference on , vol., no., pp.396-399, 6-10 Nov. 2011
Stahování
Publikováno
Jak citovat
Číslo
Sekce
Licence
Copyright (c) 2020 Pavel Chmelař, Martin Dobrovolný
Tato práce je licencována pod Mezinárodní licencí Creative Commons Attribution 4.0 .
