Development of a real-time laser scanning system for object recognition, inspection, and robot control

Forrest R. Livingstone; L. King; J. Angelo Beraldin; Marc Rioux

doi:10.1117/12.164924

21 December 1993 Development of a real-time laser scanning system for object recognition, inspection, and robot control

Forrest R. Livingstone, L. King, J. Angelo Beraldin, Marc Rioux

Proceedings Volume 2057, Telemanipulator Technology and Space Telerobotics; (1993) https://doi.org/10.1117/12.164924
Event: Optical Tools for Manufacturing and Advanced Automation, 1993, Boston, MA, United States

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.

Citation Download Citation

Forrest R. Livingstone, L. King, J. Angelo Beraldin, and Marc Rioux "Development of a real-time laser scanning system for object recognition, inspection, and robot control", Proc. SPIE 2057, Telemanipulator Technology and Space Telerobotics, (21 December 1993); https://doi.org/10.1117/12.164924

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