Timestamp offset determination between an actured laser scanner and its corresponding motor

Motor actuated 2D laser scanners are key sensors for many robotics applications that need wide ranging but low cost 3D data. There exist many approaches on how to build a 3D laser scanner using this technique, but they often lack proper synchronization for the timestamps of the actuator and the lase...

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Tác giả chính:	Voges, R.
Định dạng:	BB
Ngôn ngữ:	eng
Thông tin xuất bản:	2020
Chủ đề:	SLAM 3D Perception Timestamp Offsets Sensor Synchronization Laser Range Finder Rotating laser Actuated lidar
Truy cập trực tuyến:	http://tailieuso.tlu.edu.vn/handle/DHTL/5075
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spelling	oai:localhost:DHTL-50752020-03-30T02:14:20Z Timestamp offset determination between an actured laser scanner and its corresponding motor Voges, R. SLAM 3D Perception Timestamp Offsets Sensor Synchronization Laser Range Finder Rotating laser Actuated lidar Motor actuated 2D laser scanners are key sensors for many robotics applications that need wide ranging but low cost 3D data. There exist many approaches on how to build a 3D laser scanner using this technique, but they often lack proper synchronization for the timestamps of the actuator and the laser scanner. However, to transform the measurement points into three-dimensional space an appropriate synchronization is mandatory. Thus, we propose two different approaches to accomplish the goal of calculating timestamp offsets between laser scanner and motor prior to and after data acquisition. Both approaches use parts of a SLAM algorithm but apply different criteria to find an appropriate solution. While the approach for offset calculation prior to data acquisition exploits the fact that the SLAM algorithm should not register motion for a stationary system, the approach for offset calculation after data acquisition evaluates the perceived clarity of a point cloud created by the SLAM algorithm. Our experiments show that both approaches yield the same results although operating independently on different data, which demonstrates that the results reflect reality with a high probability. Furthermore, our experiments exhibit the significance of a proper synchronization between laser scanner and actuator. https://www.isprs-ann-photogramm-remote-sens-spatial-inf-sci.net/IV-1-W1/99/2017/isprs-annals-IV-1-W1-99-2017.pdf 2020-02-18T02:31:39Z 2020-02-18T02:31:39Z 2017 20190304162923.0 130605s2017 BB In: Proceedings of ISPRS Hannover Workshop : HRIGI 17 – CMRT 17 – ISA 17 – EuroCOW 17, 6–9 June 2017, Hannover, GermanyISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences, Volume IV-1/W1, 2017, pp. 99-106 http://tailieuso.tlu.edu.vn/handle/DHTL/5075 eng
institution	Trường Đại học Thủy Lợi
collection	DSpace
language	eng
topic	SLAM 3D Perception Timestamp Offsets Sensor Synchronization Laser Range Finder Rotating laser Actuated lidar
spellingShingle	SLAM 3D Perception Timestamp Offsets Sensor Synchronization Laser Range Finder Rotating laser Actuated lidar Voges, R. Timestamp offset determination between an actured laser scanner and its corresponding motor
description	Motor actuated 2D laser scanners are key sensors for many robotics applications that need wide ranging but low cost 3D data. There exist many approaches on how to build a 3D laser scanner using this technique, but they often lack proper synchronization for the timestamps of the actuator and the laser scanner. However, to transform the measurement points into three-dimensional space an appropriate synchronization is mandatory. Thus, we propose two different approaches to accomplish the goal of calculating timestamp offsets between laser scanner and motor prior to and after data acquisition. Both approaches use parts of a SLAM algorithm but apply different criteria to find an appropriate solution. While the approach for offset calculation prior to data acquisition exploits the fact that the SLAM algorithm should not register motion for a stationary system, the approach for offset calculation after data acquisition evaluates the perceived clarity of a point cloud created by the SLAM algorithm. Our experiments show that both approaches yield the same results although operating independently on different data, which demonstrates that the results reflect reality with a high probability. Furthermore, our experiments exhibit the significance of a proper synchronization between laser scanner and actuator.
format	BB
author	Voges, R.
author_facet	Voges, R.
author_sort	Voges, R.
title	Timestamp offset determination between an actured laser scanner and its corresponding motor
title_short	Timestamp offset determination between an actured laser scanner and its corresponding motor
title_full	Timestamp offset determination between an actured laser scanner and its corresponding motor
title_fullStr	Timestamp offset determination between an actured laser scanner and its corresponding motor
title_full_unstemmed	Timestamp offset determination between an actured laser scanner and its corresponding motor
title_sort	timestamp offset determination between an actured laser scanner and its corresponding motor
publishDate	2020
url	http://tailieuso.tlu.edu.vn/handle/DHTL/5075
work_keys_str_mv	AT vogesr timestampoffsetdeterminationbetweenanacturedlaserscanneranditscorrespondingmotor
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Timestamp offset determination between an actured laser scanner and its corresponding motor

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