Building an Omnidirectional 3D Color Laser Ranging System through a Novel Calibration Method
- Submitting institution
-
The University of Essex
- Unit of assessment
- 11 - Computer Science and Informatics
- Output identifier
- 1319
- Type
- D - Journal article
- DOI
-
10.1109/tie.2018.2890506
- Title of journal
- IEEE Transactions on Industrial Electronics
- Article number
- -
- First page
- 8821
- Volume
- 66
- Issue
- 11
- ISSN
- 0278-0046
- Open access status
- Compliant
- Month of publication
- January
- Year of publication
- 2019
- URL
-
-
- Supplementary information
-
-
- Request cross-referral to
- -
- Output has been delayed by COVID-19
- No
- COVID-19 affected output statement
- -
- Forensic science
- No
- Criminology
- No
- Interdisciplinary
- No
- Number of additional authors
-
3
- Research group(s)
-
D - Robotics and Embedded Systems (RES)
- Citation count
- 7
- Proposed double-weighted
- No
- Reserve for an output with double weighting
- No
- Additional information
- Published in IEEE-TIE, one of the top journals, this paper presented a novel omnidirectional 3D colour laser ranging system, addressing a key research question i.e. enabling mobile robots to sense indoor/outdoor scenes. Both 2D LRF and camera rotate with a platform to collect line point clouds/images synchronously, which are then fused into a 3D colour point cloud by a novel calibration method. Data association between two sensors is directly established to determine their geometric mapping relationship. This system significantly outperforms existing 3D ranging systems by innovatively fusing data gathered from both camera and laser sensors
- Author contribution statement
- -
- Non-English
- No
- English abstract
- -