The DLR multisensory Hand-Guided Device: the Laser Stripe Profiler

This paper presents the DLR Laser Stripe Profiler as a component of the DLR multisensory Hand-Guided Device for 3D modeling. After modeling the reconstruction process, we propose a novel method for laser plane self-calibration based on the assessment of the deformations the miscalibration leads to. In addition, the requirement for absence of optical filtering implies the development of a robust stripe segmentation algorithm. Experiments demonstrate the validity and applicability of the approaches.

[1]  Eric Wahl,et al.  Surflet-pair-relation histograms: a statistical 3D-shape representation for rapid classification , 2003, Fourth International Conference on 3-D Digital Imaging and Modeling, 2003. 3DIM 2003. Proceedings..

[2]  Marc Levoy,et al.  Better optical triangulation through spacetime analysis , 1995, Proceedings of IEEE International Conference on Computer Vision.

[3]  Mumin Song,et al.  Overview of three-dimensional shape measurement using optical methods , 2000 .

[4]  Lindsay Kleeman,et al.  Robust colour and range sensing for robotic applications using a stereoscopic light stripe scanner , 2002, IEEE/RSJ International Conference on Intelligent Robots and Systems.

[5]  Gerd Hirzinger,et al.  C-space exploration using noisy sensor models , 2004, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.

[6]  Olli Jokinen.  Self-calibration of a light striping system by matching multiple 3-D profile maps , 1999, Second International Conference on 3-D Digital Imaging and Modeling (Cat. No.PR00062).

[7]  Andrew W. Fitzgibbon,et al.  Calibration, data consistency and model acquisition with laser stripers , 1998, Int. J. Comput. Integr. Manuf..

[8]  G. Hirzinger,et al.  A Novel System Approach to Multisensory Data Acquisition , 2004 .

[9]  A. McIvor.  Nonlinear calibration of a laser stripe profiler , 2002 .

[10]  B. Curless.  New Methods for Surface Reconstruction from Range Images , 1997 .

[11]  D. K. Naidu,et al.  Calibration, Data Consistency and Model Acquisition with a 3-d Laser Striper , 1998 .