Adaptive pulsed laser line extraction for terrain reconstruction using a dynamic vision sensor

Mobile robots need to know the terrain in which they are moving for path planning and obstacle avoidance. This paper proposes the combination of a bio-inspired, redundancy-suppressing dynamic vision sensor (DVS) with a pulsed line laser to allow fast terrain reconstruction. A stable laser stripe extraction is achieved by exploiting the sensor's ability to capture the temporal dynamics in a scene. An adaptive temporal filter for the sensor output allows a reliable reconstruction of 3D terrain surfaces. Laser stripe extractions up to pulsing frequencies of 500 Hz were achieved using a line laser of 3 mW at a distance of 45 cm using an event-based algorithm that exploits the sparseness of the sensor output. As a proof of concept, unstructured rapid prototype terrain samples have been successfully reconstructed with an accuracy of 2 mm.


Published in:
Frontiers in Neuroscience, 7, 275
Year:
2014
ISSN:
1662-453X
Keywords:
Laboratories:




 Record created 2014-07-30, last modified 2018-01-28


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