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Optical Engineering

Terrain following and mapping of arbitrary surfaces using high-precision proximity data
Author(s): James E. Baker
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Paper Abstract

Many robotic operations, e.g. , mapping, scanning, feature following, etc. , require accurate surface following of arbitrary targets. A versatile surface-following and mapping system using a very high precision "eye-in-hand" proximity sensor, designed to provide hardware, software, and application independence, modular development, and upward expandability, is presented. These goals are met by a full a priori specification of the hardware and software interfaces; a modular system architecture; and a hierarchical surface-data analysis method, permitting application-specific tuning at each conceptual level of topological abstraction. This surface-following system was fully designed and implemented independent of any specific robotic host and then successfully integrated with and demonstrated on two very dissimilar real-time robotic systems. Presented in detail are the hardware and software architectures, the mapping and terrain forecasting algorithms, and the applications' environments and task requirements.

Paper Details

Date Published: 1 May 1993
PDF: 8 pages
Opt. Eng. 32(5) doi: 10.1117/12.133328
Published in: Optical Engineering Volume 32, Issue 5
Show Author Affiliations
James E. Baker, Oak Ridge National Lab. (United States)


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