Study on long-distance obstacle perception of the line structured light sensor

Haiyan Shao; Kejie Li; Zhenhai Zhang

doi:10.1109/ROBIO.2015.7418793

Study on long-distance obstacle perception of the line structured light sensor

Haiyan Shao, Kejie Li, Zhenhai Zhang

School of Mechatronical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

3 Citations (Scopus)

Abstract

The detection method of line structured light is applied to perceive obstacles of Unmanned Ground Vehicle (UGV) in this paper. A novel line structured light sensor is proposed for remote obstacle perception. The mathematical model of the line structured light sensor is established to measure obstacles. The formula for calculating the relationship among laser power, environmental factors and detection distance is derived. The method of three-dimensional coordinate of space point in the camera coordinate system is presented. The obstacle recognition principles based on structured lights strip are summarized. An effective method is proposed for line structured light image. Through a lot of experiments, the line structured light sensor proposed in this paper can detect ground obstacles in a hundred meters with the high speed and accuracy.

Original language	English
Title of host publication	2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	357-362
Number of pages	6
ISBN (Electronic)	9781467396745
DOIs	https://doi.org/10.1109/ROBIO.2015.7418793
Publication status	Published - 2015
Event	IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015 - Zhuhai, China Duration: 6 Dec 2015 → 9 Dec 2015

Publication series

Name	2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015

Conference

Conference	IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015
Country/Territory	China
City	Zhuhai
Period	6/12/15 → 9/12/15

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10.1109/ROBIO.2015.7418793

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Shao, H., Li, K., & Zhang, Z. (2015). Study on long-distance obstacle perception of the line structured light sensor. In 2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015 (pp. 357-362). Article 7418793 (2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROBIO.2015.7418793

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title = "Study on long-distance obstacle perception of the line structured light sensor",

abstract = "The detection method of line structured light is applied to perceive obstacles of Unmanned Ground Vehicle (UGV) in this paper. A novel line structured light sensor is proposed for remote obstacle perception. The mathematical model of the line structured light sensor is established to measure obstacles. The formula for calculating the relationship among laser power, environmental factors and detection distance is derived. The method of three-dimensional coordinate of space point in the camera coordinate system is presented. The obstacle recognition principles based on structured lights strip are summarized. An effective method is proposed for line structured light image. Through a lot of experiments, the line structured light sensor proposed in this paper can detect ground obstacles in a hundred meters with the high speed and accuracy.",

author = "Haiyan Shao and Kejie Li and Zhenhai Zhang",

note = "Publisher Copyright: {\textcopyright} 2015 IEEE.; IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015 ; Conference date: 06-12-2015 Through 09-12-2015",

year = "2015",

doi = "10.1109/ROBIO.2015.7418793",

language = "English",

series = "2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "357--362",

booktitle = "2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015",

address = "United States",

}

Shao, H, Li, K & Zhang, Z 2015, Study on long-distance obstacle perception of the line structured light sensor. in 2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015., 7418793, 2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015, Institute of Electrical and Electronics Engineers Inc., pp. 357-362, IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015, Zhuhai, China, 6/12/15. https://doi.org/10.1109/ROBIO.2015.7418793

Study on long-distance obstacle perception of the line structured light sensor. / Shao, Haiyan; Li, Kejie; Zhang, Zhenhai.
2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015. Institute of Electrical and Electronics Engineers Inc., 2015. p. 357-362 7418793 (2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Shao, Haiyan

AU - Li, Kejie

AU - Zhang, Zhenhai

PY - 2015

Y1 - 2015

N2 - The detection method of line structured light is applied to perceive obstacles of Unmanned Ground Vehicle (UGV) in this paper. A novel line structured light sensor is proposed for remote obstacle perception. The mathematical model of the line structured light sensor is established to measure obstacles. The formula for calculating the relationship among laser power, environmental factors and detection distance is derived. The method of three-dimensional coordinate of space point in the camera coordinate system is presented. The obstacle recognition principles based on structured lights strip are summarized. An effective method is proposed for line structured light image. Through a lot of experiments, the line structured light sensor proposed in this paper can detect ground obstacles in a hundred meters with the high speed and accuracy.

AB - The detection method of line structured light is applied to perceive obstacles of Unmanned Ground Vehicle (UGV) in this paper. A novel line structured light sensor is proposed for remote obstacle perception. The mathematical model of the line structured light sensor is established to measure obstacles. The formula for calculating the relationship among laser power, environmental factors and detection distance is derived. The method of three-dimensional coordinate of space point in the camera coordinate system is presented. The obstacle recognition principles based on structured lights strip are summarized. An effective method is proposed for line structured light image. Through a lot of experiments, the line structured light sensor proposed in this paper can detect ground obstacles in a hundred meters with the high speed and accuracy.

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DO - 10.1109/ROBIO.2015.7418793

M3 - Conference contribution

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T3 - 2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015

SP - 357

EP - 362

BT - 2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015

Y2 - 6 December 2015 through 9 December 2015

ER -

Shao H, Li K, Zhang Z. Study on long-distance obstacle perception of the line structured light sensor. In 2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015. Institute of Electrical and Electronics Engineers Inc. 2015. p. 357-362. 7418793. (2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015). doi: 10.1109/ROBIO.2015.7418793

Study on long-distance obstacle perception of the line structured light sensor

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