TY - GEN
T1 - Study on long-distance obstacle perception of the line structured light sensor
AU - Shao, Haiyan
AU - Li, Kejie
AU - Zhang, Zhenhai
N1 - Publisher Copyright:
© 2015 IEEE.
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.
UR - http://www.scopus.com/inward/record.url?scp=84964411712&partnerID=8YFLogxK
U2 - 10.1109/ROBIO.2015.7418793
DO - 10.1109/ROBIO.2015.7418793
M3 - Conference contribution
AN - SCOPUS:84964411712
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 -