Laser radar in robotics
01 Feb 1996-Vol. 84, Iss: 2, pp 299-320
TL;DR: The basic operating principles of laser radar sensors and the typical algorithms used to process laser radar imagery for robotic applications are described and many new applications are expected as the maturity level progresses and system costs are reduced.
Abstract: In this paper we describe the basic operating principles of laser radar sensors and the typical algorithms used to process laser radar imagery for robotic applications. We review 12 laser radar sensors to illustrate the variety of systems that have been applied to robotic applications wherein information extracted from the laser radar data is used to automatically control a mechanism or process. Next we describe selected robotic applications in seven areas: autonomous vehicle navigation, walking machine foot placement, automated service vehicles, manufacturing and inspection, automotive, military and agriculture. We conclude with a discussion of the status of laser radar technology and suggest trends we see in the application of laser radar sensors to robotics. Many new applications are expected as the maturity level progresses and system costs are reduced.
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Book•
01 Nov 1996
TL;DR: This book is about the application of high-speed machine vision for close-loop position control, or visual servoing, of a robot manipulator and provides a comprehensive coverage of all aspects of the visual Servoing problem: robotics, vision, control, technology and implementation issues.
Abstract: From the Publisher:
This book is about the application of high-speed machine vision for close-loop position control, or visual servoing, of a robot manipulator. It provides a comprehensive coverage of all aspects of the visual servoing problem: robotics, vision, control, technology and implementation issues. While much of the discussion is quite general the experimental work described is based on the use of a high-speed binary vision system with a monocular "eye-in-hand" camera.
278 citations
Cites background from "Laser radar in robotics"
...The operation and capability of many commercially available active range sensors are surveyed in [33,45]....
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Patent•
15 Mar 2013
TL;DR: In this paper, a system for automated inventory management and material handling removes the requirement to operate fully automatically or all-manual using conventional vertical storage and retrieval (S&R) machines.
Abstract: A system for automated inventory management and material handling removes the requirement to operate fully automatically or all-manual using conventional vertical storage and retrieval (S&R) machines. Inventory requests to place palletized material into storage at a specified lot location or retrieve palletized material from a specified lot are resolved into missions for autonomous fork trucks, equivalent mobile platforms, or manual fork truck drivers (and their equipment) that are autonomously or manually executed to effect the request. Automated trucks plan their own movements to execute the mission over the warehouse aisles or roadways sharing this space with manually driven trucks. Automated units drive to planned speed limits, manage their loads (stability control), stop, go, and merge at intersections according human driving rules, use on-board sensors to identify static and dynamic obstacles, and human traffic, and either avoid them or stop until potential collision risk is removed.
195 citations
TL;DR: In this article, a rotary encoder was used to provide feedback on the steering angle to guide a common tractor in a citrus field using machine vision and laser radar (ladar) guidance.
167 citations
Cites background from "Laser radar in robotics"
...Carmer and Peterson (1996) discussed the use of ladar for various applications in robotics....
[...]
Patent•
30 Aug 1999TL;DR: In this paper, a three-dimensional object identifying system is described which identifies a 3D shape object optically such as a part of a human body for preventing a personal computer from being used by any other illegitimate user than a legitimate user.
Abstract: A three-dimensional object identifying system is disclosed which identifies a three-dimensional shape object optically such as a part of a human body for preventing an information apparatus such as a personal computer from being used by any other illegitimate user than a legitimate user. The three-dimensional object identifying system has a function generating unit which generates modulation signals, light emitting elements which emit lights based on the modulation signals to a three-dimensional object, light receiving elements which receive reflected lights from the three-dimensional object and which produce detection signals, a correlation detecting unit which detects correlation information between each detection signal and modulation signal, and an identifying unit which performs identifying processing for the three-dimensional object on the basis of both pre-cataloged correlation information and the detected correlation information.
86 citations
01 Jan 2004
TL;DR: In this article, the authors describe the development of high bandwidth (~1 GHz) laser range finder techniques for industrial measurement applications in the measurement range of zero to a few dozen metres to diffusely reflecting targets.
Abstract: This thesis describes the development of high bandwidth (~1 GHz) TOF (time-of-flight) laser range finder techniques for industrial measurement applications in the measurement range of zero to a few dozen metres to diffusely reflecting targets. The main goal has been to improve single-shot precision to mm-level in order to shorten the measurement result acquisition time. A TOF laser range finder consists of a laser transmitter, one or two receivers and timing discriminators, and a time measuring unit. In order to improve single-shot precision the slew-rate of the measurement pulse should be increased, so the optical pulse of the laser transmitter should be narrower and more powerful and the bandwidth of the receiver should be higher without increasing the noise level too much. In the transmitter usually avalanche transistors are used for generating the short (3–10 ns) and powerful (20–100 A) current pulses for the semiconductor laser. Several avalanche transistor types were compared and the optimization of the switching circuit was studied. It was shown that as high as 130 A current pulses are achievable using commercially available surface mount avalanche
66 citations
References
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Book•
01 Jan 1962
TL;DR: This chapter discusses Radar Equation, MTI and Pulse Doppler Radar, and Information from Radar Signals, as well as Radar Antenna, Radar Transmitters and Radar Receiver.
Abstract: 1 An Introduction to Radar 2 The Radar Equation 3 MTI and Pulse Doppler Radar 4 Tracking Radar 5 Detection of Signals in Noise 6 Information from Radar Signals 7 Radar Clutter 8 Propogation of Radar Waves 9 The Radar Antenna 10 Radar Transmitters 11 Radar Receiver
6,010 citations
TL;DR: Schawlow and Townes as discussed by the authors proposed a technique for the generation of very monochromatic radiation in the infra-red optical region of the spectrum using an alkali vapour as the active medium.
Abstract: Schawlow and Townes1 have proposed a technique for the generation of very monochromatic radiation in the infra-red optical region of the spectrum using an alkali vapour as the active medium. Javan2 and Sanders3 have discussed proposals involving electron-excited gaseous systems. In this laboratory an optical pumping technique has been successfully applied to a fluorescent solid resulting in the attainment of negative temperatures and stimulated optical emission at a wave-length of 6943 A. ; the active material used was ruby (chromium in corundum). After demonstration in 1954 of the 'maser' principle (microwave amplification by stimulated emission of radiation), systems were sought in which the effect occurred in the infrared and visible spectrum. This goal was reached in 1960 when Theodore Maiman achieved optical laser action in ruby.
3,893 citations
Journal Article•
TL;DR: Schawlow and Townes as discussed by the authors proposed a technique for the generation of very monochromatic radiation in the infra-red optical region of the spectrum using an alkali vapour as the active medium.
Abstract: Schawlow and Townes1 have proposed a technique for the generation of very monochromatic radiation in the infra-red optical region of the spectrum using an alkali vapour as the active medium. Javan2 and Sanders3 have discussed proposals involving electron-excited gaseous systems. In this laboratory an optical pumping technique has been successfully applied to a fluorescent solid resulting in the attainment of negative temperatures and stimulated optical emission at a wave-length of 6943 A. ; the active material used was ruby (chromium in corundum). After demonstration in 1954 of the 'maser' principle (microwave amplification by stimulated emission of radiation), systems were sought in which the effect occurred in the infrared and visible spectrum. This goal was reached in 1960 when Theodore Maiman achieved optical laser action in ruby.
3,646 citations
Book•
01 Jun 1976
TL;DR: In this article, the fundamental concepts of optics are discussed. And the basic principles of optics can be found in the following references (http://www.fossiloptics.org):
Abstract: Fundamentals of optics , Fundamentals of optics , مرکز فناوری اطلاعات و اطلاع رسانی کشاورزی
1,643 citations
Book•
01 Jan 1975
TL;DR: Dainty et al. as mentioned in this paper described statistical properties of laser speckle patterns and proposed a method to reduce the number of sparseness of the laser beam in Partially Coherent Light (PCL).
Abstract: Contents: Dainty, J. C.: Introduction. - Goodman, J. W.: Statistical Properties of Laser Speckle Patterns. - Parry, G.: Speckle Patterns in Partially Coherent Light. - McKechnie, T. S.: Speckle Reduction. - Francon, M.: Information Processing Using Speckle Patterns. - Ennos, A. E.: Speckle Interferometry. - Dainty, J. C.: Stellar Speckle Interferometry. - Dainty, J. C.: Recent Developments. - Subject Index.
1,254 citations