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Proceedings Paper

Comparison of pose estimation methods of a 3D laser tracking system using triangulation and photogrammetry techniques
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Paper Abstract

In this paper, we compare the accuracy and resolution of a 3D-laser scanner prototype that tracks in real-time and computes the relative pose of objects in a 3D space. This 3D-laser scanner prototype was specifically developed to study the use of such a sensor for space applications. The main objective of this project is to provide a robust sensor to assist in the assembly of the International Space Station where high tolerance to ambient illumination is paramount. The laser scanner uses triangulation based range data and photogrammetry methods to calculate the relative pose of objects. Range information is used to increase the accuracy of the sensing system and to remove erroneous measurements. Two high-speed galvanometers and a collimated laser beam address individual targets mounted on an object to a resolution corresponding to an equivalent imager of 10000 by 10000 pixels. Knowing the position coordinates of predefined targets on the objects, their relative poses can be computed using either the scanner calibrated 3D coordinates or spatial resection methods.

Paper Details

Date Published: 22 December 2000
PDF: 10 pages
Proc. SPIE 4309, Videometrics and Optical Methods for 3D Shape Measurement, (22 December 2000); doi: 10.1117/12.410874
Show Author Affiliations
Francois Blais, National Research Council Canada (Canada)
J. Angelo Beraldin, National Research Council Canada (Canada)
Sabry F. El-Hakim, National Research Council Canada (Canada)
Luc Cournoyer, National Research Council Canada (Canada)

Published in SPIE Proceedings Vol. 4309:
Videometrics and Optical Methods for 3D Shape Measurement
Sabry F. El-Hakim; Armin Gruen, Editor(s)

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