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A correlation based target finder for terrestrial laser scanning

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

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Kurzfassung

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.

Dokumentart:Zeitschriftenbeitrag
Titel:A correlation based target finder for terrestrial laser scanning
Autoren:
AutorenInstitution oder E-Mail-Adresse der Autoren
Abmayr, ThomasNICHT SPEZIFIZIERT
Härtl, FranzNICHT SPEZIFIZIERT
Burschka, DariusNICHT SPEZIFIZIERT
Fröhlich, ChristophNICHT SPEZIFIZIERT
Hirzinger, GerdNICHT SPEZIFIZIERT
Datum:2008
Erschienen in:Journal of Applied Geodesy
Band:2
DOI :10.1515/JAG.2008.015
Seitenbereich:Seiten 131-138
Status:veröffentlicht
Stichwörter:Terrestrial laser scanning, sub-pixel accuracy, target detection, cross-correlation.
HGF - Forschungsbereich:Verkehr und Weltraum (alt)
HGF - Programm:Weltraum (alt)
HGF - Programmthema:W SY - Technik für Raumfahrtsysteme
DLR - Schwerpunkt:Weltraum
DLR - Forschungsgebiet:W SY - Technik für Raumfahrtsysteme
DLR - Teilgebiet (Projekt, Vorhaben):W - Weiterentwicklung Robotik - Telerobotik und Autonomie (alt)
Standort: Oberpfaffenhofen
Institute & Einrichtungen:Institut für Robotik und Mechatronik > Robotersysteme
Hinterlegt von: Monika Klauer
Hinterlegt am:14 Jan 2009
Letzte Änderung:12 Dez 2013 20:35

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