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Fast high resolution 3D laser scanning by real-time object tracking and segmentation

Fast high resolution 3D laser scanning by real-time object tracking and segmentation

Category
Part of a book/report
Abstract
This paper presents a real-time contour tracking and object segmentation algorithm for 3D range images. The algorithm is used to control a novel micro-mirror based imaging laser scanner, which provides a dynamic trade-off between resolution and frame rate. The micro-mirrors are controllable, enabling us to speed up acquisition significantly by only sampling on the object that is tracked and of interest. As the hardware is under development, we benchmark our algorithms on data from a SICK LMS100-10000 laser scanner mounted on a tilting platform. We find that objects are tracked and segmented well on pixel-level; that frame rate/resolution can be increased 3–4 times through our approach compared to scanners having static scan trajectories, and that the algorithm runs in 30 ms/image on a Intel Core i7 CPU using a single core.
Language
English
Author(s)
Affiliation
  • SINTEF Digital / Smart Sensor Systems
Year
2012
Published in
IEEE International Conference on Intelligent Robots and Systems. Proceedings
ISSN
2153-0858
Publisher
IEEE conference proceedings
Book
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2012, Vilamoura-Algarve, Portugal,7-12 Oct. 2012
Booklet
2012
ISBN
978-1-4673-1737-5
Page(s)
3899 - 3906