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 fi...

The paper describes the use of a laser range finder and a rotating CCD line camera for scanning and visualizing panoramic (360◦) indoor scenes. The paper describes coordinate systems of both sensors, specifies the fusion of depth and texture data acquired by both sensors, and reports on three different alternatives for visualizing the generated 3D data set. Compared to earlier publications the ...

In this paper, we present a high accuracy laser range finder and velocimeter using ultra-fast time-to-digital converter (TDC). The system operation is based on the measuring the round-trip time of a narrow laser pulse. A low-dark current high-speed PIN photodiode is used to detect the triggered laser beam and to produce start signal. The pulsed laser diode generates 45W optical power at 30ns du...

We describe a Bayesian estimation method for measurement of both range and surface orientation using a laser range finder. The method not only provides more accurate estimates of range for dark surfaces that are difficult to measure, but also simultaneously provides estimates of surface normals. This paper describes our efforts for a commercially available sensor, the laser rangefinder Acuity A...

This paper discusses mobile robot localization by means of geometric features from a laser range finder and a CCD camera. The features are line segments from the laser scanner and vertical edges from the camera. Emphasis is put on sensor models with a strong physical basis. For both sensors, uncertainties in the calibration and measurement process are adequately modeled and propagated through t...

In this note, we consider the problem of motion and shape estimation using a camera and a laser range finder. The object considered is a plane which is undergoing a Riccati motion. The camera observes features on the moving plane perspectively. The range finder camera is capable of obtaining the range of the plane along a given “laser plane,” which can either be kept fixed or can be altered in ...