Mostrar el registro sencillo del ítem

dc.contributor.authorMandow, Anthony 
dc.contributor.authorGarcia-Cerezo, Alfonso J. 
dc.contributor.authorGomez-Ruiz, Jose Antonio 
dc.contributor.authorMorales-Rodriguez, Jesus 
dc.date.accessioned2018-10-15T11:03:18Z
dc.date.available2018-10-15T11:03:18Z
dc.date.created2018-10
dc.date.issued2018-10-15
dc.identifier.urihttps://hdl.handle.net/10630/16611
dc.description.abstractMulti-beam lidar (MBL) scanners are compact, light, and accessible 3D sensors with high data rates, but they offer limited vertical resolution and field of view (FOV). Some recent robotics research has profited from the addition of a degree-of-freedom (DOF) to an MBL to build rotating multi-beam lidars (RMBL) that can achieve high-resolution scans with full spherical FOV. In a previous work, we offered a methodology to analyze the complex 3D scan measurement distributions produced by RMBLs with a rolling DOF and no pitching. In this paper, we investigate the effect of introducing constant pitch angles in the construction of the RMBLs with the purpose of finding a kinematic configuration that optimizes scan homogeneity with a spherical FOV. To this end, we propose a scalar index of 3D sensor homogeneity that is based on the spherical formulation of Ripley's K function. The optimization is performed for the widely used Puck (VLP-16) and HDL-32 sensors by Velodyne.en_US
dc.description.sponsorshipThis work was partially funded by the Spanish project {DPI2015-65186-R}. The publication has received support from Universidad de Málaga, Campus de Excelencia Andalucía Tech.en_US
dc.language.isoengen_US
dc.rightsinfo:eu-repo/semantics/openAccessen_US
dc.subjectRobóticaen_US
dc.subject.otherLidaren_US
dc.subject.otherHomogeneityen_US
dc.subject.otherRotating lidaren_US
dc.subject.otherVelodyne lidaren_US
dc.subject.otherMulti-beam lidaren_US
dc.subject.other3d rangefindersen_US
dc.titleOptimizing Scan Homogeneity for Building Full-3D Lidars based on Rotating a Multi-Beam Velodyne Rangefinderen_US
dc.typeinfo:eu-repo/semantics/conferenceObjecten_US
dc.centroEscuela de Ingenierías Industrialesen_US
dc.relation.eventtitle2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)en_US
dc.relation.eventplaceMadrid, Spainen_US
dc.relation.eventdateOctober 1-5, 2018en_US


Ficheros en el ítem

Este ítem aparece en la(s) siguiente(s) colección(ones)

Mostrar el registro sencillo del ítem