레이저 슬릿을 사용하는 능동거리 센서의 정확한 3D 데이터 추출 알고리즘

Abstract

The sensor system to measure the distance precisely from the center of the sensor system to the obstacle is needed to reconize the surrounding environments, and the sensor system is to be calibrated throughly to get the range information exactly. This study covers the calibration of the active range sensor which consists of camera and laser slit emitting device, and provides the equations to get the 3D range data. This can be possible by obtaining the extrinsic parameters of laser slit emitting device through image processing the slits measured during the constant distance intervals and the intrinsic parameters from the calibration of camera. The 3D range data equation derived from the simple geometric assumptions is proved to be applicable to the general cases using the calibration parametrs. Also the exact 3D range data were obtained to the object from the real experiment.