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Improvement of Sensor Accuracy in the Case of a Variable Surface Reflectance Gradient for Active Laser Range Finders
, Y. Savaria, , M. Rioux, J.-A. Beraldin, D. Poussart
Published in Institute of Electrical and Electronics Engineers (IEEE)
2003
Volume: 52
   
Issue: 6
Pages: 1799 - 1808
Abstract
In active laser range finders, the computation of the (x, y, z) coordinates of each point of a scene can be performed using the detected centroid p̄ of the image spot on the sensor. When the reflectance of the scene under analysis is uniform, the intensity profile of the image spot is a Gaussian and its centroid is correctly detected assuming an accurate peak position detector. However, when a change of reflectance occurs on the scene, the intensity profile of the image spot is no longer Gaussian. This change introduces a deviation Δp on the detected centroid p̌, which will lead to erroneous (x, y, z) coordinates. This paper presents two heuristic models to improve the sensor accuracy in the case of a variable surface reflectance gradient. Simulation results are presented to show the quality of the correction and the resulting accuracy.
About the journal
JournalData powered by TypesetIEEE Transactions on Instrumentation and Measurement
PublisherData powered by TypesetInstitute of Electrical and Electronics Engineers (IEEE)
ISSN189456
Open AccessNo
Concepts (13)
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    Computer aided software engineering
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    Surface emitting lasers
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    Reflectivity
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    Layout
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    Image analysis
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    Detectors
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    Optical sensors
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    Lighting
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    Image sensors
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    Laser modes
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    Artifact correction
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    Laser range finders
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    Reflectance modeling