Quantifying and improving laser range data when scanning industrial materials

Research output: Contribution to journalArticle

4 Citations (Scopus)

Abstract

This paper presents the procedure and results of a performance study of a miniature laser range scanner, along with a novel error correction calibration. Critically, the study investigates the accuracy and performance of the ranger sensor when scanning large industrial materials over a range of distances. Additionally, the study investigated the effects of small orientation angle changes of the scanner, in a similar manner to which it would experience when being deployed on a mobile robotic platform. A detailed process of error measurement and visualisation was undertaken on a number of parameters, not limited to traditional range data but also received intensity and amplifier gain. This work highlights that significant range distance errors are introduced when optically laser scanning common industrial materials, such as aluminum and stainless steel. The specular reflective nature of some materials results in large deviation in range data from the true value, with mean RMSE errors as high as 100.12 mm recorded. The correction algorithm was shown to reduce the RMSE error associated with range estimation on a planar aluminium surface from 6.48% to 1.39% of the true distance range.
LanguageEnglish
Pages7999-8009
Number of pages11
JournalIEEE Sensors Journal
Volume16
Issue number22
Early online date24 Aug 2016
DOIs
Publication statusPublished - 15 Nov 2016

Fingerprint

Scanning
scanning
Lasers
lasers
Aluminum
scanners
Error correction
Measurement errors
Robotics
aluminum
Stainless steel
Visualization
Calibration
robotics
Sensors
stainless steels
platforms
amplifiers
steels
deviation

Keywords

  • measurement by laser beam
  • robot sensing systems
  • laser beams
  • optical sensors
  • adaptive optics

Cite this

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title = "Quantifying and improving laser range data when scanning industrial materials",
abstract = "This paper presents the procedure and results of a performance study of a miniature laser range scanner, along with a novel error correction calibration. Critically, the study investigates the accuracy and performance of the ranger sensor when scanning large industrial materials over a range of distances. Additionally, the study investigated the effects of small orientation angle changes of the scanner, in a similar manner to which it would experience when being deployed on a mobile robotic platform. A detailed process of error measurement and visualisation was undertaken on a number of parameters, not limited to traditional range data but also received intensity and amplifier gain. This work highlights that significant range distance errors are introduced when optically laser scanning common industrial materials, such as aluminum and stainless steel. The specular reflective nature of some materials results in large deviation in range data from the true value, with mean RMSE errors as high as 100.12 mm recorded. The correction algorithm was shown to reduce the RMSE error associated with range estimation on a planar aluminium surface from 6.48{\%} to 1.39{\%} of the true distance range.",
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Quantifying and improving laser range data when scanning industrial materials. / MacLeod, Charles N.; Summan, Rahul; Dobie, Gordon; Pierce, S. Gareth.

In: IEEE Sensors Journal, Vol. 16, No. 22, 15.11.2016, p. 7999-8009.

Research output: Contribution to journalArticle

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