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Modelling of a camera-3D range finder system

Published online by Cambridge University Press:  01 March 1997

Christian Barat ,
Jean Triboulet ,
Youcef Chekhar  and
Etienne Colle
Christian Barat
Affiliation:
CEMIF Systèmes Complexes, 40 Rue du Pelvoux 91 020 Evry Cedex, France
Jean Triboulet
Affiliation:
CEMIF Systèmes Complexes, 40 Rue du Pelvoux 91 020 Evry Cedex, France
Youcef Chekhar
Affiliation:
CEMIF Systèmes Complexes, 40 Rue du Pelvoux 91 020 Evry Cedex, France
Etienne Colle
Affiliation:
CEMIF Systèmes Complexes, 40 Rue du Pelvoux 91 020 Evry Cedex, France
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Abstract

A laser range finder mounted on a site and azimuth turret is used as a 3D range camera. It forms, associated with a video camera, an original stereovision system. The internal structure of both images are the same but the resolution of 3D image stays low. By ignoring the acquiring speed of measures, spatial resolution is limited by the accuracy of deviation device and the laser footprint. The fact that the impact of the beam is not a point introduces spatial integration.

To correct the average at depth discontinuities due to the beam footprint, a neural-network-based solution is reported.

The use of such a multisensor system requires its calibration. As camera calibration is a well-known problem, the paper focuses on models and calibration methods of the range finder. Experimental results illustrate the quality of the calibration step in terms of accuracy and stability.

The footprint correction is evaluated for both 1D and 2D range finder scannings.

Keywords

3D range finderModellingCameraCalibration
Type
Research Article
Information
Robotica , Volume 15 , Issue 2 , March 1997 , pp. 225 - 231
Copyright
© 1997 Cambridge University Press

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