NDLI: Active laser radar for high-performance measurements

Content Provider	IEEE Xplore Digital Library
Author	Hancock, J. Langer, D. Hebert, M. Sullivan, R. Ingimarson, D. Hoffman, E. Mettenleiter, M. Froehlich, C.
Copyright Year	1998
Description	Author affiliation: Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA (Hancock, J.)
Abstract	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.
Starting Page	1465
Ending Page	1470
File Size	809111
Page Count	6
File Format	PDF
ISBN	078034300X
ISSN	10504729
DOI	10.1109/ROBOT.1998.677311
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1998-05-20
Publisher Place	Belgium
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Laser radar Radar measurements Mobile robots Navigation Inspection Azimuth Optical design Laser noise Radar applications Noise measurement
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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

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