Application and performance of laser speckle odometry applied to a mobile industrial robot
Application and performance of laser speckle odometry applied to a mobile industrial robot
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DOI：
10.1117/12.2673177
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发表时间：
2023-08
期刊：
影响因子：
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通讯作者：
T. Charrett;S. Gibson;R. Tatam
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文献类型：
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作者：
T. Charrett;S. Gibson;R. Tatam
在本文中，我们报告的应用程序的激光散斑里程计的移动的工业机器人在一个典型的工厂车间环境。典型地板表面和特征的适合性根据形成具有足够信噪比的散斑图案以用于基于相关性的处理的能力来评估。所有测试的表面，包括混凝土，橡胶瓷砖，干油漆和油渍，和危险胶带被认为是合适的。速度测量传感器输出与工业机器人的内部SLAM和车轮编码器数据的比较在高达250 mm/s的测试速度下具有<0.3 mm/s的良好一致性。最后，将使用激光跟踪仪提供地面实况测量数据，将散斑测距与机器人的内部SLAM导航进行比较。这两种技术被发现表现相似，当穿越一条16米见方的4米边长的路径时，误差高达80毫米。然而，发现激光散斑里程计在路径的初始侧上表现得明显更好，最大误差<10 mm，而机器人的内部里程计的最大误差<47 mm。
In this paper we report the application of a laser speckle odometer to a mobile industrial robot in a typical factory floor environment. The suitability of typical floor surfaces and features is assessed in terms of the ability to form speckle patterns with sufficient signal to noise for correlation-based processing. All tested surfaces including concrete, rubber tile, dried paint and oil stains, and hazard tapes were found to be suitable. A comparison of the velocimetry sensor output to the industrial robot’s internal SLAM and wheel encoder data is presented with good agreement of < 0.3mm/s at tested speeds of up to 250mm/s. Finally, a comparison of speckle odometry to the robot’s internal SLAM based navigation will be presented using a laser tracker to provide ground-truth measurement data. Both techniques were found to perform similarly, with errors of up to 80mm when traversing a 16m square path of 4m sides. The laser speckle odometry was however found to perform significantly better over the initial sides of the path with a maximum error of < 10mm in comparison to < 47mm for the robot’s internal odometry.