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Proceedings Paper

Development of a real-time laser scanning system for object recognition, inspection, and robot control
Author(s): Forrest R. Livingstone; L. King; J. Angelo Beraldin; Marc Rioux
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Paper Abstract

A real-time laser scanner for object recognition, inspection, and robot control is presented in this paper. Range and intensity images are generated in perfect registration at a rate of 10 Mega-samples per second. Images have a resolution of 483 lines each having 512 pixels. Owing to its compatibility with the video standard RS-170, the range camera can be directly interfaced to an image processor through a video frame grabber with either an analog or digital input. The angular field of view is 30 degree(s) X 30 degree(s). The stand-off distance is 0.5 m and the operational depth of field is 1 m. Furthermore, cooperative targets can be measured up to several meters away from the camera. The range resolution is 12 bits. Under normal operating conditions, a range precision of 0.2 mm and 2 mm are achieved at 0.5 m and 1 m respectively. The testing of the prototype is well under way and soon, images of a variety of representative objects will be available.

Paper Details

Date Published: 21 December 1993
PDF: 8 pages
Proc. SPIE 2057, Telemanipulator Technology and Space Telerobotics, (21 December 1993); doi: 10.1117/12.164924
Show Author Affiliations
Forrest R. Livingstone, Hymarc Ltd. (Canada)
L. King, Hymarc Ltd. (Canada)
J. Angelo Beraldin, National Research Council Canada (Canada)
Marc Rioux, National Research Council Canada (Canada)

Published in SPIE Proceedings Vol. 2057:
Telemanipulator Technology and Space Telerobotics
Won Soo Kim, Editor(s)

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