3-D Measurement of an Object by a Mobile Robot Equipped with a Laser Range Finder
نویسندگان
چکیده
In this paper, we propose a 3-D measurement method of objects by a mobile robot equipped with a laser range finder. When a robot picks up an object, it is important to reconstruct its entire 3-D shape, in order to grasp it properly. Therefore, the robot is required to measure the object from different directions to integrate 3-D data. In our method, the robot is equipped with the laser range finder composed of a laser and a CCD camera, and measures an object using a light stripe projection method. Then the robot combines the range data of each view, considering errors in robot’s positions and viewing angles, and reconstruct the shape of the object. An experimental result has shown the effectiveness of the proposed method.
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