Active laser radar for high-performance measurements
Active laser radar for high-performance measurements
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DOI：
10.1109/robot.1998.677311
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发表时间：
1998-05
期刊：
影响因子：
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通讯作者：
J. Hancock;D. Langer;M. Hebert;R. Sullivan;D. Ingimarson;Eric Hoffmann;M. Mettenleiter;C. Fröhlich-C.
中科院分区：
文献类型：
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作者：
J. Hancock;D. Langer;M. Hebert;R. Sullivan;D. Ingimarson;Eric Hoffmann;M. Mettenleiter;C. Fröhlich-C.
激光扫描仪或激光雷达（ladar）已经用于移动的机器人导航和检查任务多年。虽然以前的扫描仪足以用于低速应用，但它们通常不具有长距离测绘所需的范围或角分辨率。许多还没有提供具有高准确度和高精度的充足视场。在本文中，我们将介绍最先进的，高速，高精度，三维激光雷达技术的发展。这项工作是CMU、K2 T和Z+F的共同努力。扫描器机构提供无障碍的360/spl度/水平视场和70/spl度/垂直视场。扫描仪的分辨率是可变的，在方位角和仰角上每像素的最大分辨率约为0.06度。该激光器是调幅，连续波的模糊间隔为52米，范围分辨率为1.6毫米，最大像素速率为625千赫。本文将重点介绍激光雷达的设计和性能，并将讨论该技术的几个潜在应用。它报告了系统的性能数据，包括噪声、随时间的漂移、精度和测量准确度。讨论了环境光、目标表面材料和环境温度对测距精度的影响。将显示应用程序的示例数据，并讨论改进。
Laser scanners, or laser radars (ladar), have been used for a number of years for mobile robot navigation and inspection tasks. Although previous scanners were sufficient for low speed applications, they often did not have the range or angular resolution necessary for mapping at the long distances. Many also did not provide an ample field of view with high accuracy and high precision. In this paper we will present the development of state-of-the-art, high speed, high accuracy, 3D laser radar technology. This work has been a joint effort between CMU and K2T and Z+F. The scanner mechanism provides an unobstructed 360/spl deg/ horizontal field of view, and a 70/spl deg/ vertical field of view. Resolution of the scanner is variable with a maximum resolution of approximately 0.06 degrees per pixel in both azimuth and elevation. The laser is amplitude-modulated, continuous-wave with an ambiguity interval of 52 m, a range resolution of 1.6 mm, and a maximum pixel rate of 625 kHz. This paper will focus on the design and performance of the laser radar and will discuss several potential applications for the technology. It reports on performance data of the system including noise, drift over time, precision, and accuracy with measurements. Influences of ambient light, surface material of the target and ambient temperature for range accuracy are discussed. Example data of applications will be shown and improvements will also be discussed.