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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >Underwater Laser Scanner: Ray-Based Model and Calibration
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Underwater Laser Scanner: Ray-Based Model and Calibration

机译：水下激光扫描仪：基于射线的模型和校准

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摘要

Underwater 3-D perception is crucial for autonomous manipulation and mapping. Using a mirror-galvanometer system to steer a laser line projector and using triangulation with a camera it is possible to produce full 3-D perception, while avoiding moving the sensor with respect to the scene. This paper presents a ray-based model of a laser scanner and a calibration method for such a model. The model takes into account the distortion introduced to the system by the flat viewports used for both the laser and the camera. The paper also introduces the computation of elliptical cones as a way to synthesize the ray-based model and speed up the triangulation computation. The present study reports results obtained using the real sensor in a water tank to reconstruct objects and planes to assess the sensors accuracy, as well as a comparison between the two triangulation methods (ray-based and elliptical cone).
机译：水下3D感知对于自主操纵和映射至关重要。使用反射镜检流计系统来操纵激光线投影仪，并使用相机进行三角测量，可以产生完整的3D感知，同时避免相对于场景移动传感器。本文提出了一种基于射线的激光扫描仪模型及其校准方法。该模型考虑了用于激光器和摄像机的平面视口引入系统的失真。本文还介绍了椭圆锥的计算方法，以综合基于射线的模型并加快三角剖分的计算速度。本研究报告了在水箱中使用真实传感器重建物体和平面以评估传感器精度以及两种三角测量方法（基于射线和椭圆锥）之间的比较所获得的结果。

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