Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지
DOI QR코드

DOI QR Code

Development of Ranging Sensor Based on Laser Structured Light Image

레이저 구조광 영상기반 거리측정 센서 개발

  • Kim, Soon-Cheol (Dept. of Electrical and Information Engineering, Seoul National University of Science and Technology) ;
  • Yi, Soo-Yeong (Dept. of Electrical and Information Engineering, Seoul National University of Science and Technology)
  • 김순철 (서울과학기술대학교 전기정보공학과) ;
  • 이수영 (서울과학기술대학교 전기정보공학과)
  • Received : 2014.11.24
  • Accepted : 2015.01.30
  • Published : 2015.04.01
Download PDF
⟨ Previous Next ⟩

Abstract

In this study, an embedded ranging system based on a laser structured light image is developed. The distance measurement by the structured light image processing has efficient computation because the burdensome correspondence problem is avoidable. In order to achieve robustness against environmental illumination noise and real-time laser structured light image processing, a bandpass optical filter is adopted in this study. The proposed ranging system has an embedded image processor performing the whole image processing and distance measurement, and so reduces the computational burden in the main control system. A system calibration algorithm is presented to compensate for the lens distortion.

Keywords

References

  1. R. Jain et. al, Machine vision, McGraw-Hill, 1995.
  2. J. Leonard and H. Durrant-Whyte, Directed Sonar Sensing for Mobile Robot Navigation, Kluwer academic publisher, 1992.
  3. S. Choo, K. Lee, "Object recognition using an ultrasonic sensor array," Proc. of the 9th Korea Automatic Control Conference, vol. 1, pp. 772-776, 1994.
  4. B. Jung et. al, "Lane marking detection of mobile robot with single laser rangefinder," Journal of Institute of Control, Robotics and Systems (in Korean), vol. 17, no. 6, pp. 521-525, 2011. https://doi.org/10.5302/J.ICROS.2011.17.6.521
  5. K. Boyer and A. Kak, "Color-encoded structured light for rapid active ranging," IEEE Trans. Pattern Analysis and Machine Intelligence, vol. PAMI-9, no. 1, 1987.
  6. O. Hall-Holt and S. Rusinkiewicz, "Stripe boundary doces for real-time structured-light range scanning moving objects," Proc. of Int'l Conf. on Computer Vision (ICCV 2001), vol. 2, pp. 359-366, 2001.
  7. S. Yi, Y. Hong, and J. Suh, "Distance meadurement based on structured light image for mobile robots," Journal of Institute of Control, Robotics and Systems (in Korean), vol. 16, no. 1, pp. 18-24, 2010. https://doi.org/10.5302/J.ICROS.2010.16.1.018
  8. http://www.withrobot.com/.
  9. S. Kim and S. Yi, "Development of structured light based embedded ranging sensor," Proc. of ICROS (Institute of Control, Robotics and Systems) 2014 Jeonbuk and Jeju Branch Conference (in Korean), pp. 234-237, 2014.