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A correlation based target finder for terrestrial laser scanning

Abmayr, Thomas and Härtl, Franz and Burschka, Darius and Fröhlich, Christoph and Hirzinger, Gerd (2008) A correlation based target finder for terrestrial laser scanning. Journal of Applied Geodesy, 2 (3), pp. 131-138. DOI: 10.1515/JAG.2008.015.

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Abstract

Many calibration and registration methods for optical sensors require highly accurate and robust detection of markers. To date, many di¤erent approaches for detecting markers have been developed. However, all of these share certain disadvantages, depending on the optical sensor and their application. We have developed a novel approach for high-accuracy target point detection based on normed cross-correlation from symmetric patterns. The method has been specifically developed for terrestrial laser scanning, but may also work for other types of optical sensors due to its vision based properties. Our method is robust to noise and invariant to rotation, translation and perspective projection. It is scale invariant and also works in varying distances. In addition, the cross-correlation function allows quality control. Another advantage of this method is that only a few parameters need to be adjusted. Consequently, it is applicable in field test scenarios. The method does not require a certain target pattern. The only constraint on the target type is that after projecting it perspectively, a region around the target center has to remain symmetric and the approximate position of the target center has to be known. Our results demonstrate the robustness and accuracy of this method which we have validated in field applications.

Document Type:Article
Title:A correlation based target finder for terrestrial laser scanning
Authors:
AuthorsInstitution or Email of Authors
Abmayr, ThomasUNSPECIFIED
Härtl, FranzUNSPECIFIED
Burschka, DariusUNSPECIFIED
Fröhlich, ChristophUNSPECIFIED
Hirzinger, GerdUNSPECIFIED
Date:2008
Journal or Publication Title:Journal of Applied Geodesy
Volume:2
DOI:10.1515/JAG.2008.015
Page Range:pp. 131-138
Status:Published
Keywords:Terrestrial laser scanning, sub-pixel accuracy, target detection, cross-correlation.
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Space (old)
HGF - Program Themes:W SY - Technik für Raumfahrtsysteme
DLR - Research area:Space
DLR - Program:W SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):W - Weiterentwicklung Robotik - Telerobotik und Autonomie (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics > Robotic Systems
Deposited By: Monika Klauer
Deposited On:14 Jan 2009
Last Modified:12 Dec 2013 20:35

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