Multiresolutional Laser Radar

  • Rudolf Schwarte
Part of the NATO ASI Series book series (volume 63)

Abstract

The INV-laser radar working group has spent considerable effort in the design and implementation of an advanced 3D-sensor, envisaging medium and large scale applications in robotics and automation, especially real—time measurements of shape, position, orientation and movement of three-dimensional objects as well as environment perception, path finding and docking of robotic vehicles. Using laser pulses instead of microwave pulses the operating principle is quite similar to that of a microwave radar. Realization of the projected laser radar, however, imposes a number of very crucial points.

This paper describes the main difficulties being encountered and presents elaborated solutions like an improved sensor head with so called mirror optics, a new fiber optic concept for ultimate precision, time windowing facilities for target selection, amplitude control, closed—loop real-time data processing for contour tracking and, finally, fast contour estimation procedures with special Kalman-jump—filter algorithms. The INV— laser radar is able to measure three coordinates, reflectivity and range rate of passive 3D—surface points at a primary measuring rate of some 10.000 Hz. After data processing the output data rate is reduced to some 100 Hz performing mm—resolution.

Experimental results of the INV-laser radar demonstrate an extraordinary precision, the ability to find and identify simple 3D-objects by measuring cross-sections and automatic 3D-edge resp. contour tracking as well as the process of taking a 3D—picture of a small workpiece by raster scanning. Since the latter mode consumes too much time it is more efficient first to analyze the 3D-scene by means of a 2D—vision system. Thereafter the laser radar is directed only to the interesting edges and structures in order to add the corresponding depth information.

Keywords

Microwave Manifold Attenuation Transportation Radar 

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Copyright information

© Springer-Verlag Berlin Heidelberg 1990

Authors and Affiliations

  • Rudolf Schwarte
    • 1
  1. 1.Institut für Nachriehtenverarbeitung (INV) Zentrum für Sensorsysteme (ZESS)University of SiegenSiegenW-Germany

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