Journal articles on the topic 'Scanning laser rangefinder'
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Ito, Kouhei, Akihisa Ohya, Naohiro Shimaji, and Takeshi Aoki. "Reduction of Distance Drift with Temperature in Uniaxial Laser Rangefinder by Using Multiecho Sensing." Journal of Robotics and Mechatronics 27, no. 1 (February 20, 2015): 64–73. http://dx.doi.org/10.20965/jrm.2015.p0064.
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<div class=""abs_img""><img src=""[disp_template_path]/JRM/abst-image/00270001/08.jpg"" width=""300"" />Uniaxial laser rangefinder</div> To expand the range of activities by unmanned aerial vehicles (UAVs), whose use at disaster sites and other dangerous locations has raised high expectations, UAVs must be capable of several functions, e.g., flight both indoor and outdoor environments. This requires making the airframe and major sensors as compact and light-weight as possible. To do so, we are developing uniaxial laser rangefinders to replace conventional scanning laser rangefinders. One developmental approach to uniaxial laser rangefinders and results regarding their validity are reported in this paper. Using a simulated model -- a modified scanning laser rangefinder -- we discuss the effectiveness of our approach. Specifically, this is to reduce the range drift due to heat, for which we propose using a multiecho to measure two echoes from a reference plate whose distance is known and that is placed outside of the sensor, and the target object, instead using the internal reference plate used in conventional two-dimensional scanning laser rangefinders. We also report the results of experiments verifying its validity. </span>
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Zelenskiy, V. A., and M. V. Kapalin. "Laser-scanning rangefinder fixed on a gimbal with two degrees of freedom." VESTNIK of Samara University. Aerospace and Mechanical Engineering 20, no. 3 (December 1, 2021): 37–48. http://dx.doi.org/10.18287/2541-7533-2021-20-3-37-48.
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A laser-scanning rangefinder mounted on a gimbal with two degrees of freedom is presented. The rangefinder can be used as part of a navigation system of an unmanned aerial vehicle to avoid obstacles or prevent collisions. Compared to stereo cameras, the device requires significantly less computing resources and is less dependent on lighting conditions. Compared to integrated lidars, the cost of the device is by an order lower. А model of the device was developed and an obstacle avoidance flight was simulated in the Gazebo simulator. The PX4/Avoidance software was used as an autopilot. As a result of a model experiment, we found that a scanning laser rangefinder can provide autonomous navigation with obstacle avoidance.
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Bondar, Maxim N., Vladimir N. Legkiy, and Igor S. Gibin. "SCANNING MEASURING SYSTEM BASED ON TRIANGULAR LASER RANGEFINDER." Interexpo GEO-Siberia 8, no. 2 (July 8, 2020): 113–19. http://dx.doi.org/10.33764/2618-981x-2020-8-2-113-119.
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A scanning laser range finder that provides distance measurement up to 10 m with an accuracy of 0.01 m for 360-degree circular scanning of space is described. Using the triangulation principle with a multi-element photodetector allows to creating a small-sized laser measuring system for robotic platforms for industrial and special purposes. Using the microcontroller allows to rationally implementing the discrete algorithm of the system in a given sector of space.
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Celms, Armands, Miks Brinkmanis-Brimanis, and Melanija Jakstevica. "Application of Laser Scanning in Internal Surveying of Premises and Development of 3D Model of Building." Baltic Surveying 16 (December 22, 2022): 42–48. http://dx.doi.org/10.22616/j.balticsurveying.2022.16.005.
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Nowadays, along with the classical and experienced surveying methods, modern technologies are rapidly developing and entering into the economy. Laser scanning has many benefits and uses. Application of this technology results in a point cloud from which it is possible to create three-dimensional models which can represent topographic properties, structure dimensions, and spatial relationships. The aim of the research is to investigate the application of three-dimensional laser scanning in the internal surveying of premises and in the development of the 3D model buildings. The task of the research is to apply the application of laser rangefinder and ultrasonic rangefinder method in the scanning of a building that is characterized by complex architecture, an interior garden, many protrusions, and a special layout of windows and doors. The use of the Stonex X300 laser scanner and Stonex M6 laser rangefinder has been described as well. To achieve the goals and objectives of the research, laser telemetry and ultrasonic telemetry method, method of three-dimensional modeling, as well as analysis of scientific literature, mathematical calculation methods, and analysis of documents and factual materials have been used. As the result of the investigation 3D model of a building consisting of 47 individual point clouds was developed. The main conclusion is that three-dimensional modeling as a computer graphics method for the three-dimensional representation of any object or surface can be used.
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Zhang, Chi. "Design and Simulation of MEMS Mirror Based 3D Shape Measurement System." Key Engineering Materials 645-646 (May 2015): 1120–24. http://dx.doi.org/10.4028/www.scientific.net/kem.645-646.1120.
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A 3D shape measurement system based on a laser rangefinder and a two-dimensional MEMS mirror is presented in this paper. According to the requirement of surface profile measurement, the 3D shape measurement system is mainly composed of a laser module, a two-dimensional MEMS mirror, a ranging module, an orientation module and an image composition module. Based on the MEMS scanning technology and phase shift ranging method, the surface profile of the target can be acquired by the measurement system. For the coupled scanning mode, the scanning pattern is simulated in Lissajous figure and the condition of covering all the field of view is analyzed. The simulation results show that the 3D shape measurement system based on the laser rangefinder and the two-dimensional MEMS mirror can realize the measurement the surface profile of the target in all the field of view.
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Hood, J. L., and M. Hayashi. "Assessing the application of a laser rangefinder for determining snow depth in inaccessible alpine terrain." Hydrology and Earth System Sciences Discussions 7, no. 1 (January 19, 2010): 417–40. http://dx.doi.org/10.5194/hessd-7-417-2010.
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Abstract. Snow is a major contributor to stream flow in alpine watersheds and quantifying snow depth and distribution is important for hydrological research. However, direct measurement of snow in rugged alpine terrain is often impossible due to avalanche and rock fall hazard. A laser rangefinder was used to determine the depth of snow in inaccessible areas. Laser rangefinders use ground based light detection and ranging technology but are more cost effective than airborne surveys or terrestrial laser scanning systems and are highly portable. Data was collected within the Opabin watershed in the Canadian Rockies. Surveys were conducted on one accessible slope for validation purposes and two inaccessible talus slopes. Laser distance data was used to generate surface models of slopes when snow covered and snow-free and snow depth distribution was quantified by differencing the two surfaces. The results were compared with manually probed snow depths on the accessible slope. The accuracy of the laser rangefinder method as compared to probed depths was 0.21 m or 12% of average snow depth. Results from the two inaccessible talus slopes showed regions near the top of the slopes with 6–9 m of snow accumulation. These deep snow accumulation zones result from re-distribution of snow by avalanches and are hydrologically significant as they persist until late summer.
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Hood, J. L., and M. Hayashi. "Assessing the application of a laser rangefinder for determining snow depth in inaccessible alpine terrain." Hydrology and Earth System Sciences 14, no. 6 (June 4, 2010): 901–10. http://dx.doi.org/10.5194/hess-14-901-2010.
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Abstract. Snow is a major contributor to stream flow in alpine watersheds and quantifying snow depth and distribution is important for hydrological research. However, direct measurement of snow in rugged alpine terrain is often impossible due to avalanche and rock fall hazard. A laser rangefinder was used to determine the depth of snow in inaccessible areas. Laser rangefinders use ground based light detection and ranging technology but are more cost effective than airborne surveys or terrestrial laser scanning systems and are highly portable. Data were collected within the Opabin watershed in the Canadian Rockies. Surveys were conducted on one accessible slope for validation purposes and two inaccessible talus slopes. Laser distance data was used to generate surface models of slopes when snow covered and snow-free and snow depth distribution was quantified by differencing the two surfaces. The results were compared with manually probed snow depths on the accessible slope. The accuracy of the laser rangefinder method as compared to probed depths was 0.21 m or 12% of average snow depth. Results from the two inaccessible talus slopes showed regions near the top of the slopes with 6–9 m of snow accumulation. These deep snow accumulation zones result from re-distribution of snow by avalanches and are hydrologically significant as they persist until late summer.
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Schmitz, Berit, Christoph Holst, Tomislav Medic, Derek Lichti, and Heiner Kuhlmann. "How to Efficiently Determine the Range Precision of 3D Terrestrial Laser Scanners." Sensors 19, no. 6 (March 26, 2019): 1466. http://dx.doi.org/10.3390/s19061466.
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As laser scanning technology has improved a lot in recent years, terrestrial laser scanners (TLS) have become popular devices for surveying tasks with high accuracy demands, such as deformation analyses. For this reason, finding a stochastic model for TLS measurements is very important in order to get statistically reliable results. The measurement accuracy of laser scanners—especially of their rangefinders—is strongly dependent on the scanning conditions, such as the scan configuration, the object surface geometry and the object reflectivity. This study demonstrates a way to determine the intensity-dependent range precision of 3D points for terrestrial laser scanners that measure in 3D mode by using range residuals in laser beam direction of a best plane fit. This method does not require special targets or surfaces aligned perpendicular to the scanner, which allows a much quicker and easier determination of the stochastic properties of the rangefinder. Furthermore, the different intensity types—raw and scaled—intensities are investigated since some manufacturers only provide scaled intensities. It is demonstrated that the intensity function can be derived from raw intensity values as written in literature, and likewise—in a restricted measurement volume—from scaled intensity values if the raw intensities are not available.
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Volkova, Evgeniya, Aleksey Druzhinin, Roman Kuzminykh, and Vladimir Poluzadov. "Simulation of the preparation and face drilling processes with laser scanning and automated marking of the drilling grid." E3S Web of Conferences 177 (2020): 01010. http://dx.doi.org/10.1051/e3sconf/202017701010.
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The article discusses the methods of calculating the drilling and blasting scheme and constructing a drilling grid, manual and automatic calculation options are compared. A method for automatically constructing a drilling grid based on laser scanning is proposed. Moreover, the proposed method can be implemented using cheap equipment - a laser rangefinder and an Arduino microcomputer. Based on the data of the laser rangefinder with openCV and SciPy libraries, a polygonal 3D model of the face is built. The transfer of the drilling grid to the 3D model is implemented using the bilinear interpolation algorithm. The constructed polygonal model can be improved by making changes to the construction algorithm, since it is developed by the authors and can be further developed. The simulation model is created in Anylogic software and shows the drilling process taking into account the previously calculated drilling pattern. The proposed models can be used as a basis for further research and software development.
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Cao, Jin Ling, Ying Luo, and Zhi Li. "Study on 3-D Laser-Scanning-Based Machine Vision System for Robotic Construction Vehicles." Advanced Materials Research 591-593 (November 2012): 1391–95. http://dx.doi.org/10.4028/www.scientific.net/amr.591-593.1391.
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Based on the AR4000-LIR type infrared laser rangefinder, the prototype of the 3-D laser-scanning-based machine vision system for robotic construction vehicles is developed and the software for scanning control, swing control and data sampling/processing is programmed. The experimental results show that the system has good spatial resolution and stability and is able to be used for the task planning of the robotic construction vehicles which is in autonomous operation, and better able to scan the detail object contour.
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Yu, Lingli, and Kaijun Zhou. "A Dynamic Local Path Planning Method for Outdoor Robot Based on Characteristics Extraction of Laser Rangefinder and Extended Support Vector Machine." International Journal of Pattern Recognition and Artificial Intelligence 30, no. 02 (February 2016): 1659004. http://dx.doi.org/10.1142/s0218001416590047.
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For dynamic path planning problem under unstructured environment, firstly, successive edge following and least squares method (SEF-LSM) is adopted to extract environment characteristics of laser rangefinder data, and SEF-LSM with logical reasoning (SEF-LSM-LR) is proposed for dynamic obstacles characteristics detection. Furthermore, the perpendicularity (PERP) algorithm is utilized to identify dynamic vehicle, according to the perpendicularity attribute of vehicle. Secondly, all the laser rangefinder scanning points are marked as negative ([Formula: see text]) or positive ([Formula: see text]1), and the scanning points of one dynamic obstacle are marked as the same label. Thirdly, extended support vector machine (ESVM) is designed for outdoor robot local path planning under unstructured environment, which consider the practical start-goal position and heading constraints, robot kinematic constraint, and curvature constraint, moreover, the emergency obstacle is regarded as disturbances during planning processing. Finally, the optimal path is chosen by the shortest distance evaluation function. Lots of outdoor simulations show that the proposed method solve the dynamic planning problem under unstructured environment, and their effectiveness performance are verified for outdoor robot path planning.
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Jamali, Ali, François Anton, Alias Abdul Rahman, and Darka Mioc. "3D Indoor Building Environment Reconstruction using Least Square Adjustment, Polynomial Kernel, Interval Analysis and Homotopy Continuation." ISPRS - International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences XLII-2/W1 (October 26, 2016): 103–13. http://dx.doi.org/10.5194/isprs-archives-xlii-2-w1-103-2016.
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Nowadays, municipalities intend to have 3D city models for facility management, disaster management and architectural planning. Indoor models can be reconstructed from construction plans but sometimes, they are not available or very often, they differ from ‘as-built’ plans. In this case, the buildings and their rooms must be surveyed. One of the most utilized methods of indoor surveying is laser scanning. The laser scanning method allows taking accurate and detailed measurements. However, Terrestrial Laser Scanner is costly and time consuming. In this paper, several techniques for indoor 3D building data acquisition have been investigated. For reducing the time and cost of indoor building data acquisition process, the Trimble LaserAce 1000 range finder is used. The proposed approache use relatively cheap equipment: a light Laser Rangefinder which appear to be feasible, but it needs to be tested to see if the observation accuracy is sufficient for the 3D building modelling. The accuracy of the rangefinder is evaluated and a simple spatial model is reconstructed from real data. This technique is rapid (it requires a shorter time as compared to others), but the results show inconsistencies in horizontal angles for short distances in indoor environments. The range finder horizontal angle sensor was calibrated using a least square adjustment algorithm, a polynomial kernel, interval analysis and homotopy continuation.
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Qu, Xiao, and Wei Gang Zheng. "Design of Ship Anti-Collision Alarm System Based on Laser Range-Finding." Applied Mechanics and Materials 496-500 (January 2014): 1502–5. http://dx.doi.org/10.4028/www.scientific.net/amm.496-500.1502.
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This paper introduces the design of a laser rangefinder ship collision avoidance warning system , laser distance sensor and two degrees of freedom PTZ constituted the system. the horizontal and vertical direction to achieve dynamic scanning . Real-time monitoring of the target vessel and the surrounding vessels ( obstructions ) distance , When entering the test vessel and the surrounding areas of the ship reaches the set distance of the minimum distance , alarm system achieve sound and light alarm for ship driver promptly adjusting the route for more time. Therefore reducing ship collisions happened.
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Dmitriyev, S. V. "DEVELOPMENT OF TOOLS FOR VOLUMETRIC SCANNING AND PROFILING OF UNDERGROUND WORKINGS." Herald of the Kola Science Centre of RAS 13, no. 3/2021 (April 12, 2021): 22–26. http://dx.doi.org/10.37614/2307-5228.2021.13.3.004.
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The article describes a method for shooting sections of a underground working to determine the effective stresses in the rock mass. A shooting method using a laser rangefinder and its alternative in the form of a three-dimensional scanner based on an optical sensor LIDAR-Lite v3. The principle of operation and characteristics of the developed device, its advantages and disadvantages in comparison with readymade solutions are described. The results of tests in the conditions of underground working in the waste roadway of the «Kaula-Kotselvaara» mine, which is operated by the JSC «Kola GMK», have been demonstrated.
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Mohamed, H. A., A. Moussa, M. M. Elhabiby, and N. El-Sheimy. "IMPROVED REFERENCE KEY FRAME ALGORITHM." ISPRS Annals of Photogrammetry, Remote Sensing and Spatial Information Sciences IV-2/W5 (May 29, 2019): 133–39. http://dx.doi.org/10.5194/isprs-annals-iv-2-w5-133-2019.
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<p><strong>Abstract.</strong> The autonomous vehicles, such as wheeled robots and drones, efficiently contribute in the search and rescue operations. Specially for indoor environments, these autonomous vehicles rely on simultaneous localization and mapping approach (SLAM) to construct a map for the unknown environment and simultaneously to estimate the vehicle’s position inside this map. The result of the scan matching process, which is a key step in many of SLAM approaches, has a fundamental role of the accuracy of the map construction. Typically, local and global scan matching approaches, that utilize laser scan rangefinder, suffer from accumulated errors as both approaches are sensitive to previous history. The reference key frame (RKF) algorithm reduces errors accumulation as it decreases the dependency on the accuracy of the previous history. However, the RKF algorithm still suffers; as most of the SLAM approaches, from scale shrinking problem during scanning corridors that exceed the maximum detection range of the laser scan rangefinder. The shrinking in long corridors comes from the unsuccessful estimation of the longitudinal movement from the implemented RKF algorithm and the unavailability of this information from external source as well. This paper proposes an improvement for the RKF algorithm. This is achieved by integrating the outcomes of the optical flow with the RKF algorithm using extended Kalman filter (EKF) to overcome the shrinking problem. The performance of the proposed algorithm is compared with the RKF, iterative closest point (ICP), and Hector SLAM in corridors that exceed the maximum detection range of the laser scan rangefinder.</p>
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Jamali, A., F. Anton, A. A. Rahman, P. Boguslawski, and C. M. Gold. "3D INDOOR BUILDING ENVIRONMENT RECONSTRUCTION USING CALIBRATION OF RANGEFINDER DATA." ISPRS Annals of Photogrammetry, Remote Sensing and Spatial Information Sciences II-2/W2 (October 19, 2015): 29–34. http://dx.doi.org/10.5194/isprsannals-ii-2-w2-29-2015.
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Nowadays, municipalities intend to have 3D city models for facility management, disaster management and architectural planning. 3D data acquisition can be done by laser scanning for indoor environment which is a costly and time consuming process. Currently, for indoor surveying, Electronic Distance Measurement (EDM) and Terrestrial Laser Scanner (TLS) are mostly used. In this paper, several techniques for indoor 3D building data acquisition have been investigated. For reducing the time and cost of indoor building data acquisition process, the Trimble LaserAce 1000 range finder is used. The accuracy of the rangefinder is evaluated and a simple spatial model is reconstructed from real data. This technique is rapid (it requires a shorter time as compared to others), but the results show inconsistencies in horizontal angles for short distances in indoor environments. The range finder was calibrated using a least square adjustment algorithm. To control the uncertainty of the calibration and of the reconstruction of the building from the measurements, interval analysis and homotopy continuation are used.
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Stone, Robert. "Virtual reality and telepresence." Robotica 10, no. 5 (September 1992): 461–67. http://dx.doi.org/10.1017/s0263574700010663.
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SUMMARYThe UK Advanced Robotics Research Centre's VERDEX Project (Virtual Environment demote Driving Experiment) is an experimental test bed for investigating telepresence and virtual reality technologies in the design of human-system interfaces for telerobots. The achievements of the Project to date include the transformation of scanning laser rangefinder output to stereo virtual imagery (viewed using the VPL EyePhoneTM), the Teletact® Tactile Feedback Glove (for use with the VPL DataGloveTM), a high-speed, head-slaved stereo TV system, and a T800/i860 SuperVisionTM graphics/video parallel processing system.
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Azuma, Takeo, Kenya Uomori, Kunio Nobori, and Atsushi Morimura. "Development of a video-rate rangefinder system using light intensity modulation with scanning laser light." Systems and Computers in Japan 37, no. 3 (2006): 20–31. http://dx.doi.org/10.1002/scj.20423.
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Aslan, Gökhan, Erhan Ilhan Konukseven, and Buğra Koku. "Design and Implementation of a 3D Range Scanner for Mobile Robots." Key Engineering Materials 572 (September 2013): 644–47. http://dx.doi.org/10.4028/www.scientific.net/kem.572.644.
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In an efficient autonomous navigation and exploration, the robots should sense the environment as exactly as possible in real-time and act correctly on the basis of the acquired 3D data. Laser scanners have been used for the last 30 years for mobile robot navigation. However, they often did not enough speed, accuracy and field of view. In this paper we present the design and implementation of a scanning platform, which can be used for both outdoor and indoor mobile robot navigation and mapping. A 3D scanning platform based on a 2D laser rangefinder was designed in compact way for fast and accurate mapping with maximum field of view. The range finder is rotated around the vertical axis to extract the 3D indoor information. However, the scanner is designed to be placed in any direction on a mobile robot. The designed mechanism provides 360º degree horizontal by 240º degree vertical field of view. The maximum resolution is 0.36º degrees in elevation and variable in azimuth (0.1 degrees if scanning platform is set to complete a 360º degree rotation in 3.6 seconds). The proposed low cost compact design is tested by scanning a physical environment with known dimensions to show that it can be used as a precise and reliable high quality 3D sensor for autonomous mobile robots.
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Keong, Tew Chin, S. A. A. Shukor, and N. A. Rahim. "Development of a Mobile Platform with IoT for LIDAR." Journal of Physics: Conference Series 2107, no. 1 (November 1, 2021): 012042. http://dx.doi.org/10.1088/1742-6596/2107/1/012042.
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Abstract Nowadays, interior scanning is very significant in mobile robot applications because it helps humans to monitor, study and investigate the environments, especially the challenging ones with clutter, hazardous, unexplored, dynamic, and others. A LIDAR can be utilised to perform the task; however, suitable mobile platform should be accompanying it to allow mobility while collecting data representing the environment. This paper shows the process of developing a suitable mobile platform for a low-cost laser rangefinder, RP LIDAR from SLAMTEC with its scanning performance. The mobile platform used in this project is an Arduino Uno R3 4WD mobile robot. L298 H-Bridge IC and HC-05 Bluetooth module is implemented on the robot to make the user able to control its movement through a mobile application. MIT app inventor is used to develop the mobile application. Through the application, user can control the mobile robot with the LIDAR to move around the selected indoor area to scan its environment. To show the scanning results, MATLAB will be used to plot the map. Analysis from the plotting show good mapping results and similar to the real environment, thus presenting its potential to be used in the above-mentioned situations.
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Garcı´a, Ernesto. "Low-cost three-dimensional vision system based on a low-power semiconductor laser rangefinder and a single scanning mirror." Optical Engineering 40, no. 1 (January 1, 2001): 61. http://dx.doi.org/10.1117/1.1331267.
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Buzlov, N. A. "Scan Matching for Navigation of a Mobile Robot in Semi-Structured Terrain Conditions." Mekhatronika, Avtomatizatsiya, Upravlenie 22, no. 5 (May 17, 2021): 246–53. http://dx.doi.org/10.17587/mau.22.246-253.
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To ensure unmanned autonomous movement of ground robotic means, it is required to accurately determine the position and orientation of the robot. The present study is related to the estimation of coordinates by comparing the scans of a laser scanning rangefinder in conditions of semi-structed infrastructure and the absence of a global satellite communications signal. The existing methods of comparing scans have significant drawbacks in the conditions of movement over a semi-structured terrain, associated both with the processing time of data from the laser scanning rangefinder, and with the quality of the results obtained. The scan is preliminarily placed in a map consisting of cells. Each cell of around point scan is described by forces represented by the laws of physics or probability theory. In the cells of the map, we take into account the mutual influence of all forces from each point of the scan and thus we obtain the resulting artificial potential field of the scan. The position of the robot is estimated by the change in the number of acting forces of one scan per points of the next scan taking into account their direction. We estimate the orientation of the robot based on the sum of the vector products of the forces and distances to the given forces acting on the points of the next scan. This method allows you to calculate the displacement of the robot between scans regardless of road conditions and terrain. This article presents the results of an experimental verification of the method on a mock-up of a mobile robot equipped with a Velodyne HDL-32 LIDAR. We indicate the operating conditions of the method for a given LIDAR, as well as the time spent on calculating the bias estimate. Given the peculiarities of the LIDAR, we present a method for eliminating the Doppler Effect (distortion) for the original point cloud. A comparative analysis of the developed method for integrating wheel odometry data, inertial and satellite navigation using the Extended Kalman Filter shows the applicability of this method to assess the position and orientation of the robot in conditions of its movement over rough terrain.
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Zaiter, Mohammad Ali, Régis Lherbier, Ghaleb Faour, Oussama Bazzi, and Jean-Charles Noyer. "Extrinsic LiDAR/Ground Calibration Method Using 3D Geometrical Plane-Based Estimation." Sensors 20, no. 10 (May 16, 2020): 2841. http://dx.doi.org/10.3390/s20102841.
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This paper details a new extrinsic calibration method for scanning laser rangefinder that is precisely focused on the geometrical ground plane-based estimation. This method is also efficient in the challenging experimental configuration of a high angle of inclination of the LiDAR. In this configuration, the calibration of the LiDAR sensor is a key problem that can be be found in various domains and in particular to guarantee the efficiency of ground surface object detection. The proposed extrinsic calibration method can be summarized by the following procedure steps: fitting ground plane, extrinsic parameters estimation (3D orientation angles and altitude), and extrinsic parameters optimization. Finally, the results are presented in terms of precision and robustness against the variation of LiDAR’s orientation and range accuracy, respectively, showing the stability and the accuracy of the proposed extrinsic calibration method, which was validated through numerical simulation and real data to prove the method performance.
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Winiwarter, L., K. Anders, D. Wujanz, and B. Höfle. "INFLUENCE OF RANGING UNCERTAINTY OF TERRESTRIAL LASER SCANNING ON CHANGE DETECTION IN TOPOGRAPHIC 3D POINT CLOUDS." ISPRS Annals of Photogrammetry, Remote Sensing and Spatial Information Sciences V-2-2020 (August 3, 2020): 789–96. http://dx.doi.org/10.5194/isprs-annals-v-2-2020-789-2020.
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Abstract. Terrestrial laser scanners are commonly used for remotely sensing natural surfaces into 3D point clouds. Time series of such 3D point clouds can be analysed to gain information of surface changes that are induced by Earth surface shaping processes. The atomic unit in time series analysis is a bitemporal change detection and quantification. This should involve an estimation of the minimum quantifiable change, the Level of Detection, to separate signal from noise, e.g. stemming from the measurement. To enable such an estimation through error propagation, a model of the sensing instrument’s measurement uncertainty is required. In this work, we present an investigation on the ranging component of terrestrial laser scanning on this uncertainty and its influence on 3D distances between point clouds of two epochs. Specifically, we analyse the effects of incidence angle, intensity and range for different object materials, and make additional considerations with respect to waveform information returned by the sensor. We estimate a model for the rangefinder uncertainty of a terrestrial laser scanner and apply it on experimental data. The results show that using a sensor-specific model of ranging uncertainty allows an appropriate estimation of the Level of Detection. At a range of 60 m and a rotational displacement of 10°, this Level of Detection ranges between 0.1 mm to 1 mm for a white and a grey surface and up to 5 mm for a black surface. The completeness of the detection of significant change ranges from 60.2 % (black) to 89.8 % (grey) for the proposed method and from 65.5 % to 88.9 % for the baseline, when compared to tachymeter measurements. The similarity between the results is expected and suggests the validity of error propagation for the derivation of the Level of Detection.
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Guo, Kai, Hang Miao, Lin Liu, Jinghai Zhou, and Ming Liu. "Effect of graphene oxide on chloride penetration resistance of recycled concrete." Nanotechnology Reviews 8, no. 1 (December 31, 2019): 681–89. http://dx.doi.org/10.1515/ntrev-2019-0059.
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Abstract Graphene oxide (GO) is a nanomaterial with ultra-high strength, good hydrophilicity, and dispersibility. To study the effect of GO on chloride penetration resistance of recycled concrete, the mechanism of action is investigated. The electric flux method is used to test the chloride penetration in recycled concrete specimens with 0, 0.03%, 0.06%, and 0.09% of GO. The volume change, microscopic pore distribution, and micro-structure morphology are characterized using laser rangefinder, and techniques such as X-ray tomography and scanning electron microscopy. The results show that the "coagulation nodule" effect of GO provides a growth basis for cement hydration,which results in a more uniform distribution of the hydrate microcrystals. It fills the micro-cracks of the recycled concrete, reduces the most probable aperture, increases the number of harmless small apertures, and enhances the volume stability of recycled concrete, thereby improving the chloride penetration resistance, which is important for improving the durability of concrete.
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Fessler, Lauren, Amy Fulcher, Dave Lockwood, Wesley Wright, and Heping Zhu. "Advancing Sustainability in Tree Crop Pest Management: Refining Spray Application Rate with a Laser-guided Variable-rate Sprayer in Apple Orchards." HortScience 55, no. 9 (September 2020): 1522–30. http://dx.doi.org/10.21273/hortsci15056-20.
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Advanced variable-rate spray technology, which applies pesticides based on real-time scanning laser rangefinder measurements of plant presence, size, and density, was developed and retrofitted to existing sprayers. Experiments were conducted to characterize the application of four programmed spray rates (0.03, 0.05, 0.07, or 0.09 L·m−3 of crop geometric volume) when applied to Malus domestica Borkh. ‘Golden Delicious’ apple trees using this crop sensing technology. Water-sensitive cards (WSCs) were used as samplers to quantify spray coverage, deposits, and deposit density in the target and nontarget areas, and an overspray index based on a threshold of greater than 30% coverage was calculated. The application rate ranged from 262 L·ha−1 at the programmed spray rate of 0.03 L·m−3 to 638 L·ha−1 at the rate of 0.09 L·m−3. For a given WSC position, spray coverage and deposits increased as the spray rate increased. WSC positions 1 and 2 were oversprayed at all rates. The effect of spray rate on deposit density varied with WSC positions, with high densities achieved by low spray rates for WSCs closest to the sprayer but by high spray rates for WSCs positioned either deeper within or under the canopy. When coalescing deposits were accounted for, deposit densities met or exceeded the recommended pesticide application thresholds (insecticides 20–30 droplets/cm2; fungicides 50–70 droplets/cm2) at all WSC positions for each spray rate tested. The lowest spray rate reduced off-target loss to the orchard floor by 81% compared with the highest rate, dramatically reducing potential exposure to nontarget organisms, such as foraging pollinators, to come into contact with pesticide residues. Applying the lowest rate of 0.03 L·m−3 met deposit density efficacy levels while reducing spray volume by 83% compared with the orchard standard application of 1540 L·ha−1 and by 87% compared with the 1950 L·ha−1 application rate recommended when using the tree row volume method. Thus, there is potential for growers to refine pesticide application rates to further achieve significant pesticide cost savings. Producers of other woody crops, such as nursery, citrus, and grapes, who use air-assisted sprayers, may be able to achieve similar savings by refining pesticide applications through the use of laser rangefinder-based spray application technology.
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Jamali, A., F. Anton, A. Abdul Rahman, and D. Mioc. "A COMPARISON OF ARTIFICIAL NEURAL NETWORK AND HOMOTOPY CONTINUATION IN 3D INTERIOR BUILDING MODELLING." ISPRS - International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences XLII-4/W7 (October 23, 2017): 13–21. http://dx.doi.org/10.5194/isprs-archives-xlii-4-w7-13-2017.
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Indoor surveying is currently based on laser scanning technology, which is time-consuming and costly. A construction model depends on complex calculations which need to manage a large number of measured points. This is suitable for the detailed geometrical models utilized for representation, yet excessively overstated when a simple model including walls, floors, roofs, entryways, and windows is required, such a basic model being a key for efficient network analysis such as shortest path finding. To reduce the time and cost of the indoor building data acquisition process, the Trimble LaserAce 1000 range finder is used. A comparison of neural network and a combined method of interval analysis and homotopy continuation in 3D interior building modelling for calibration of inaccurate surveying equipment is presented. We will present the interval valued homotopy model of the measurement of horizontal angles by the magnetometer component of the rangefinder. This model blends interval analysis and homotopy continuation. The results prove that homotopies give the best results both in terms of RMSE and the L<sub>∞</sub> metric.
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Hartman, Amiel, and Vidya K. Nandikolla. "Human-Machine Interface for a Smart Wheelchair." Journal of Robotics 2019 (January 2, 2019): 1–11. http://dx.doi.org/10.1155/2019/4837058.
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The paper describes the integration of hardware and software with sensor technology and computer processing to develop the next generation intelligent wheelchair. The focus is a computer cluster design to test high performance computing for smart wheelchair operation and human interaction. The LabVIEW cluster is developed for real-time autonomous path planning and sensor data processing. Four small form factor computers are connected over a Gigabit Ethernet local area network to form the computer cluster. Autonomous programs are distributed across the cluster for increased task parallelism to improve processing time performance. The distributed programs operating frequency for path planning and motion control is 50Hz and 12.3Hz for 0.3 megapixel robot vision system. To monitor the operation and control of the distributed LabVIEW code, network automation is integrated into the cluster software along with a performance monitor. A link between the computer motion control program and the wheelchair joystick control of the drive train is developed for the computer control interface. A perception sensor array and control circuitry is integrated with the computer system to detect and respond to the wheelchair environment. Multiple cameras are used for image processing and scanning laser rangefinder sensors for obstacle avoidance in the cluster program. A centralized power system is integrated to power the smart wheelchair along with the cluster and sensor feedback system. The on board computer system is evaluated for cluster processing performance for the smart wheelchair, incorporating camera machine vision and LiDAR perception for terrain obstacle detection, operating in urban scenarios.
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Lin, Hui, Ya Zhou Ji, Liang Liang, Wei Liu, and Zhao Ling Hu. "Reconstruction of Three Dimensional City Model Based on LIDAR." Advanced Materials Research 518-523 (May 2012): 5648–55. http://dx.doi.org/10.4028/www.scientific.net/amr.518-523.5648.
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The research of Three Dimensional City Model (3DCM) has become a hot topic in GIS field in recent years, and it also has played an important role in traffic, land, mining, surveying and mapping, and other fields, especially in urban planning. However, the difficulty to acquire 3D data is the key obstacle to the further development of 3DCM. Airborne LIDAR, integrating GPS, INS and scanning laser rangefinder, can rapidly acquire the 3D position of ground by airplane, which is very economical, efficient and convenient to acquire 3D data. Because traditional three-dimensional data acquisition method can’t meet the need of the city’s fast development, airborne LIDAR technology is regarded as a convenient, swift, high-efficient three-dimensional data acquisition method. Compared with traditional methods, the airborne LIDAR technology has the following characteristics: 1) High efficiency: in 12 hours, the airborne LIDAR can scan 1000 square kilometers, next, with the help of the related post-processing software, LIDAR cloud data can transform them into GIS format or other receivable format in certain automatic or semiautomatic mode. 2) High precision: because the pulse of laser light isn’t easily subject to shadow and solar angle, it greatly improves the data quality. The flight height limit has no influence on its elevation data precision, which is superior to the conventional photogrammetry. The plane precision may achieve 0.15 to 1 meter, the elevation precision may achieve 10 centimeters. 3) All-weather feature: airborne LIDAR is active remote sensing without considering the digital aerial photogrammetry. 4) Rich information: with the aid of airborne LIDAR ,we can obtains not only the three dimensional coordinate of ground point, but also the three dimensional coordinate of terrain details, such as trees, buildings, roads. If it is integrated with CCD, it could gains image information. We acquired the airborne LIDAR data of 20 square kilometers in the central area of Shanghai using ALTM3100 airborne LIDAR system of the Optech company in 2006.This paper introduces the data processing procedure of the airborne LIDAR data, LIDAR system uses random commercial software to process plane GPS tracking data、plane attitude data、 laser ranging data and the swinging angle data of laser scanning mirror, finally, obtaining the three-dimensional coordinates(X,Y,Z) data of various surveying points. Which three-dimensional discrete dot matrix data is without attribute suspending in the air namely LIDAR original data, named “point cloud”. LIDAR data performs pre-processing to obtain digital surface model (DSM), which is classified and extracted, we acquire topography and object related to modeling, preparing for three-dimensional city model. Data pre-processing includes abnormal point deletion, coordinate transformation and flight strip combination. At present, we used famous business software TerraSolid, developed by Company of Finland to realize the classification and extraction from the LIDAR data TerraSolid depends on MicroStation platform, on the basis of classification and extraction algorithms presented by Axelsson, et al. of Swedish, including a lot of module such as TerraScan, TerraModeler and TerraPhoto. TerraScan is used in the field of LIDAR data classification and extraction, TerraModeler is used for producing and dealing with various planes, TerraPhoto is used for dealing with the primitive image, topography model and building model are got by using this software, complicated artificial building (Oriental Pearl, Jin Mao mansion etc.) need artificial repair and disposal, data processing of 20 sq. km. takes more than one month, efficiency has been improved greatly on the premise of guaranteeing the precision. Topography model and building model can be obtained by using TerraSolid and combining a few manual intervention based on DSM, The topography model is expressed with the triangulated irregular network (TIN), the building model is expressed with 3ds format, three dimensional model of non - texture of Lujiazui region of Shanghai was gained by LIDAR data. In order to achieving better visualization effect, the topography model overlaps orthophoto, and stuck true texture to building model, true city landscape of Lujiazui region of Shanghai is established. This paper has introduce post-processing procedure of airborne LIDAR data systematically, has realized the fast reconstruction of three-dimension urban model based on LIDAR data, enable this technology to serve the information construction of the city better.
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Fudickar, Sebastian, Christian Stolle, Nils Volkening, and Andreas Hein. "Scanning Laser Rangefinders for the Unobtrusive Monitoring of Gait Parameters in Unsupervised Settings." Sensors 18, no. 10 (October 12, 2018): 3424. http://dx.doi.org/10.3390/s18103424.
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Since variations in common gait parameters (such as cadence, velocity and stride-length) of elderly people are a reliable indicator of functional and cognitive decline in aging and increased fall risks, such gait parameters have to be monitored continuously to enable preventive interventions as early as possible. With scanning laser rangefinders (SLR) having been shown to be suitable for standardised (frontal) gait assessments, this article introduces an unobtrusive gait monitoring (UGMO) system for lateral gait monitoring in homes for the elderly. The system has been evaluated in comparison to a GAITRite (as reference system) with 86 participants (ranging from 21 to 82 years) passing the 6-min walk test twice. Within the considered 56,351 steps within an overall 7877 walks and approximately 34 km distance travelled, it has been shown that the SLR Hokuyo UST10-LX is more sensitive than the cheaper URG-04LX version in regard to the correct (automatic) detection of lateral steps (98% compared to 77%) and walks (97% compared to 66%). Furthermore, it has been confirmed that the UGMO (with the SLR UST10-LX) can measure gait parameters such as gait velocity and stride length with sufficient sensitivity to determine age- and disease-related functional (and cognitive) decline.
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McManus, Colin, Paul Furgale, and Timothy D. Barfoot. "Towards lighting-invariant visual navigation: An appearance-based approach using scanning laser-rangefinders." Robotics and Autonomous Systems 61, no. 8 (August 2013): 836–52. http://dx.doi.org/10.1016/j.robot.2013.04.008.
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Ulyashin, Aleksander, and Aleksander Velichko. "Study of methods for measuring distances in scanning range." Transaction of Scientific Papers of the Novosibirsk State Technical University, no. 4 (December 18, 2020): 21–37. http://dx.doi.org/10.17212/2307-6879-2020-4-21-37.
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Recently, the market for scanning rangefinders, in other words, LIDARS, has begun to develop rapidly due to the new course for unmanned vehicles and the need for high-precision positioning of objects in construction, geodesy, military Affairs, navigation, etc. The leading manufacturers of such scanning devices are currently Velodyne, Ouster and Luminar. Each company has its own unique approach to creating LIDAR, which has both pros and cons. LIDAR itself is a scanning device designed to receive and process information about remote objects using active optical systems that use the phenomena of light absorption and scattering in optically transparent media. In other words, a LIDAR is a device that uses a laser emitter to detect an object, after which the beam from the object is reflected and hits the photodetector, which, in turn, generates a signal and transmits it to the time interval meter. The output is a two-or three-dimensional image of the scanned object in the form of dots, depending on the type of LIDAR. The more of them, the clearer the picture we have, their number directly depends on the number of lasers and the processing speed of the system. This work is devoted to a comparative analysis of methods for constructing LIDAR systems. The analysis is carried out in order to identify the most accurate method of measuring the distance to an object under various conditions, and a new self-oscillating principle of distance measurement is proposed, which allows you to bring the measurement accuracy to a new level.
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Zhu, Fei, Yuchun Huang, Zizhu Tian, and Yaowei Ma. "Extrinsic Calibration of Multiple Two-Dimensional Laser Rangefinders Based on a Trihedron." Sensors 20, no. 7 (March 26, 2020): 1837. http://dx.doi.org/10.3390/s20071837.
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Multiple two-dimensional laser rangefinders (LRFs) are applied in many applications like mobile robotics, autonomous vehicles, and three-dimensional reconstruction. The extrinsic calibration between LRFs is the first step to perform data fusion and practical application. In this paper, we proposed a simple method to calibrate LRFs based on a corner composed of three mutually perpendicular planes. In contrast to other methods that require a special pattern or assistance from other sensors, the trihedron corner needed in this method is common in daily environments. In practice, we can adjust the position of the LRFs to observe the corner until the laser scanning plane intersects with three planes of the corner. Then, we formed a Perspective-Three-Point problem to solve the position and orientation of each LRF at the common corner coordinate system. The method was validated with synthetic and real experiments, showing better performance than existing methods.
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Suchocki, Czesław. "Comparison of Time-of-Flight and Phase-Shift TLS Intensity Data for the Diagnostics Measurements of Buildings." Materials 13, no. 2 (January 12, 2020): 353. http://dx.doi.org/10.3390/ma13020353.
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In recent years, the terrestrial laser scanning system (TLS) has become one of the most popular remote and nondestructive testing (NDT) methods for diagnostic measurements of buildings and structures as well as for the assessment of architectural heritage. Apart from 3D coordinates, the power of a laser beam backscattered from the scanned object can be captured by TLS. The radiometric information of the point cloud, called “intensity”, can provide information about changes in the physio–chemical properties of the scanned surface. This intensity can be effectively used to detect defects in the surfaces of walls, such as cracks and cavities, moisture, biodeterioration (mosses and lichens) or weathered parts of the wall. Manufacturers of TLS mainly use two different principles for distance measurement, time-of-flight (TOF) and phase-shift (PS). The power of energy in both types of rangefinders might be absorbed or reflected in a slightly different way and provide more or less detailed radiometric point cloud information. The main aim of this investigation is to compare TOF and PS scanners in the context of using TLS intensity data for the diagnostics of buildings and other structures. The potential of TLS intensity data for detecting defects in building walls has been tested on multiple samples by two TOF (Riegl VZ400i, Leica ScanStation C10) and two PS (Z + F 5016 IMAGER, Faro Focus3D) scanners.
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Najjaran, Homayoun. "IMAGING OF CORROSION PITS ON METALLIC PIPES USING A LASER SCANNER." Proceedings of the Canadian Engineering Education Association (CEEA), August 10, 2011. http://dx.doi.org/10.24908/pceea.v0i0.3852.
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This paper describes the hardware and software of a laser scanning system that is used to produce 3D images of external surfaces of pipes. The images are produced in the form of 3D raster images with a resolution of up to 0.1×0.1 mm and an accuracy of 3-10 microns, depending on the desired scanning speed, to portray the corrosion pits on the pipes. The main application of the scanner is to establish patterns for calibrating nondestructive testing techniques (e.g., Remote Field Eddy Current (RFEC) and ultrasound testing that are commonly used to measure the remaining wall thickness of ductile and cast iron pipes), and also identifying the statistical characteristics of the measuring instruments utilized in those methods. The images may also be useful to scrutinize corrosion and failure mechanisms, especially when estimates of average or maximum pit depth are insufficient. The scanning system consists of a 2-DOF robot that can move a laser displacement sensor along a pipe and an instrumented rig that rotates the pipe about its axis. Rotating the pipe and moving the rangefinder along the pipe’s axis, the scanning system acquires laser measurements into a host computer to produce the image. The paper also presents the images and statistical analysis of corrosion pits of pipe samples exhumed and sandblasted for scanning.
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Liu, Xiangfeng, Xiaohua Tong, Kuifeng Luan, Weiming Xu, and Rong Shu. "Plane-based Self-calibration and Improvement of Three-dimensional Multi-beam Laser Scanning with Two-axis-mirror." Measurement Science and Technology, July 8, 2022. http://dx.doi.org/10.1088/1361-6501/ac7fde.
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Abstract The geometry and calibration of three-dimensional multi-beam laser scanning (MBLS) are more difficult than the single-beam laser scanning, especially for one laser emitter and multiple laser-echo detection within the same optical path and scanning with a two-axis-mirror. This paper focuses on the influence of the main systematic errors for the geometric imagery of the MBLS, and presents a plane-based self-calibration to improve the geometric positioning. First, the model of geometric imaging and systematic errors for the MBLS is presented, and the adjustment of plane-based self-calibration is developed. Second, the influence of systematic errors for geometric imagery of the MBLS is simulated and conducted to find the main errors. Third, a strong network configuration based on planar calibration is addressed and implemented, and the improvement of accuracy is examined via qualitative and quantitative analysis. The results show that the rangefinder offset, horizontal direction circle index and vertical circle index are the main systematic errors, and the accuracy of distance is corrected from 29.94 cm to 2.86 cm with an improvement of 86.89% for the plane-based calibration, and validation indicates that is corrected from 25.47 cm to 5.60 cm with an improvement of 88.25%.
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BAYAR, Gokhan. "Development of a Data Clustering System for 2DOF Robotic Ball Balancer Using Laser Scanning RangeFinder." Sakarya University Journal of Science, November 4, 2020. http://dx.doi.org/10.16984/saufenbilder.726455.
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Bayar, Gokhan, and Tugay Kadir Olguner. "Development of a 2D Laser Rangefinder Based 3D Scanning System for Wheeled Mobile Robot Applications." International Journal of Applied Mathematics, Electronics and Computers, December 23, 2016, 382. http://dx.doi.org/10.18100/ijamec.271032.
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BAYAR, Gokhan. "Development of a Data Clustering System for 2DOF Robotic Ball Balancer Using Laser Scanning RangeFinder." Sakarya University Journal of Science, November 4, 2020. http://dx.doi.org/10.16984/saufenbilder.726455.
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Madimarova, Gulmira, Diana Suleimenova, Toleubek Pentayev, Yerkebulan Khalykov, Gulban Baydauletova, Saltanat Tumazhanova, and Hana Stankova. "THE GEODETIC MONITORING OF DEFORMATIONS OF A HIGH-RISE BUILDING USING GROUND-BASED LASER SCANNING TECHNOLOGY." Journal of Applied Engineering Science, October 8, 2022, 1–10. http://dx.doi.org/10.5937/jaes0-37001.
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The article justifies the use of laser-scanning systems for geodetic monitoring of high-rise buildings and structures. Contemporary methods allow solving comprehensively the main tasks of geodetic monitoring. During the monitoring of high-rise objects, not only the main geometric parameters of the objects should be taken into account. The main importance should be given to the mutual arrangement of individual building elements, which is especially important for identifying and predicting deformation processes. Laser scanning coordinate measuring systems are designed to measure the object coordinate points to determine the object’s geometric dimensions. The principle of GLS operation is to measure the point coordinates in space by the polar method. Distance is measured by a laser rangefinder using a pulse method with signal digitization technology. The advantage of this approach is a smaller amount of time spent on the creation of a primary survey network. At that, the laying of scanner ray paths is most effective when carrying out ground-based laser scanning of linear structures. But it is advisable to apply its construction elements within the framework of the developed methodology. The development and implementation of new technologies for geodetic work performance, supported by an appropriate level of automation, is always carried out to reduce the time required for data collection and processing. The RiSCAN PRO program is a project-oriented product, i.e. the entire volume of data obtained as a part of a single measurement project is structured and stored according to the RiSCAN PRO project structure.