title: A compact 3D omnidirectional range sensor of high resolution for robust reconstruction of environments.
abstract: In this paper, an accurate range sensor for the three-dimensional reconstruction of environments is designed and developed. Following the principles of laser profilometry, the device exploits a set of optical transmitters able to project a laser line on the environment. A high-resolution and high-frame-rate camera assisted by a telecentric lens collects the laser light reflected by a parabolic mirror, whose shape is designed ad hoc to achieve a maximum measurement error of 10 mm when the target is placed 3 m away from the laser source. Measurements are derived by means of an analytical model, whose parameters are estimated during a preliminary calibration phase. Geometrical parameters, analytical modeling and image processing steps are validated through several experiments, which indicate the capability of the proposed device to recover the shape of a target with high accuracy. Experimental measurements show Gaussian statistics, having standard deviation of 1.74 mm within the measurable range. Results prove that the presented range sensor is a good candidate for environmental inspections and measurements.
authors.affiliation: Institute of Intelligent Systems for Automation, Italian National Research Council, via Amendola 122/DO, 70126 Bari, Italy. marani@ba.issia.cnr.it.
authors.forename: Roberto
authors.initials: R
authors.lastname: Marani
authors.affiliation: Institute of Intelligent Systems for Automation, Italian National Research Council, via Amendola 122/DO, 70126 Bari, Italy. reno@ba.issia.cnr.it.
authors.forename: Vito
authors.initials: V
authors.lastname: Renò
authors.affiliation: Institute of Intelligent Systems for Automation, Italian National Research Council, via Amendola 122/DO, 70126 Bari, Italy. nitti@ba.issia.cnr.it.
authors.forename: Massimiliano
authors.initials: M
authors.lastname: Nitti
authors.affiliation: Institute of Intelligent Systems for Automation, Italian National Research Council, via Amendola 122/DO, 70126 Bari, Italy. dorazio@ba.issia.cnr.it.
authors.forename: Tiziana
authors.initials: T
authors.lastname: D'Orazio
authors.affiliation: Institute of Intelligent Systems for Automation, Italian National Research Council, via Amendola 122/DO, 70126 Bari, Italy. stella@ba.issia.cnr.it.
authors.forename: Ettore
authors.initials: E
authors.lastname: Stella