NDLI: An Integrated Robotic Multi-Modal Range Sensing System

Content Provider	IEEE Xplore Digital Library
Author	Curtis, P. Yang, C.S. Payeur, P.
Copyright Year	2004
Description	Author affiliation: Sch. of Inf. Technol. & Eng., Ottawa Univ., Ont. (Curtis, P.; Yang, C.S.; Payeur, P.)
Abstract	Creating 3-D surface representation of large objects or wide working areas is a tedious and error-prone process using the currently available sensor technologies. The primary problem comes from the fact that laser range sensors allow to capture at most one line of points from a given position and orientation, and stereo vision systems accuracy is dependent upon the initial camera calibration, the extraction of features, and the matching of features. When the registration process is not properly controlled, registration errors tend to significantly degrade the accuracy of measurements, which is revealed to be critical in telerobotic operations where occupancy models are built directly from these range measurements. The reliability of range measurements within a singular range sensor technique can drastically distort the registration process, especially within environments unsuitable for the system. Instead of utilizing a single range sensor, we adopt the use of a multi-modal system allowing diverse modes of range sensing techniques to complement each other in the hope that one system's strength could be used to compensate for another system's weakness. Using a mixture of active and passive range sensing techniques, both giving dense and sparse datasets, this multi-modal range sensing system is integrated seamlessly with minimal processing overhead and optimal workspace
Starting Page	1991
Ending Page	1996
File Size	621503
Page Count	6
File Format	PDF
ISBN	0780388798
DOI	10.1109/IMTC.2005.1604520
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2005-05-16
Publisher Place	Canada
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot sensing systems Sensor systems Distortion measurement Sensor phenomena and characterization Stereo vision Cameras Calibration Feature extraction Error correction Degradation multi-modal data collection Range measurements robotic sensing systems data fusion
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Ultrasonic and stereo vision data fusion

MSG-cal: Multi-sensor graph-based calibration

A stereo camera calibration based on robotic vision

Towards vision guided manipulation

A Step-step Calibration Method Based on Two-eye Stereo Vision Measuring Robot

Optimal sensor placement

Hybrid Stereo Sensor with Omnidirectional Vision Capabilities: Overview and Calibration Procedures

Multi-sensor fusion scheme for calibration-free stereo vision in a manufacturing workcell

Fast stereo matching for implementation in a 3-D vision sensor

An Integrated Robotic Multi-Modal Range Sensing System

Similar Documents

Ultrasonic and stereo vision data fusion

MSG-cal: Multi-sensor graph-based calibration

A stereo camera calibration based on robotic vision

Towards vision guided manipulation

A Step-step Calibration Method Based on Two-eye Stereo Vision Measuring Robot

Optimal sensor placement

Hybrid Stereo Sensor with Omnidirectional Vision Capabilities: Overview and Calibration Procedures

Multi-sensor fusion scheme for calibration-free stereo vision in a manufacturing workcell

Fast stereo matching for implementation in a 3-D vision sensor

An Integrated Robotic Multi-Modal Range Sensing System