The DLR multisensory Hand-Guided Device: the Laser Stripe Profiler

Klaus H. Strobl,Wolfgang Sepp,Eric Wahl,Tim Bodenmüller,Michael Suppa,Javier F. Seara,Gerd Hirzinger

Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference（2004）

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摘要

This paper presents the DLR Laser Stripe Profiler as a component of the DLR multisensory Hand-Guided Device for 3D modeling. After modeling the reconstruction process, we propose a novel method for laser plane self-calibration based on the assessment of the deformations the miscalibration leads to. In addition, the requirement for absence of optical filtering implies the development of a robust stripe segmentation algorithm. Experiments demonstrate the validity and applicability of the approaches.

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关键词

CCD image sensors,calibration,filtering theory,image reconstruction,image segmentation,laser beam applications,modelling,sensor fusion,3D modeling,DLR laser stripe profiler,DLR multisensory hand guided device,deformations assessment,laser plane self calibration,miscalibration,optical filtering,reconstruction process,robust stripe segmentation algorithm

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