Abstract
Many types of 3D sensing devices are commercially available and were utilized in various technical fields. In most conventional systems with a 3D sensing device, the spatio-temporal resolution and the measurement range are constant during operation. Consequently, it is necessary to select an appropriate sensing system according to the measurement task. Moreover, such conventional systems have difficulties dealing with several measurement targets simultaneously due to the aforementioned constants. This issue can hardly be solved by integrating several individual sensing systems into one. Here, we propose a single 3D sensing system that adaptively adjusts the spatio-temporal resolution and the measurement range to switch between multiple measurement tasks. We named the proposed adaptive 3D sensing system “AdjustSense.” In AdjustSense, as a means for the adaptive adjustment of the spatio-temporal resolution and measurement range, we aimed to achieve low-latency visual feedback for the adjustment by integrating not only a high-speed camera, which is a high-speed sensor, but also a direct drive motor, which is a high-speed actuator. This low-latency visual feedback can enable a large range of 3D sensing tasks simultaneously. We demonstrated the behavior of AdjustSense when the positions of the measured targets in the surroundings were changed. Furthermore, we quantitatively evaluated the spatio-temporal resolution and measurement range from the 3D points obtained. Through two experiments, we showed that AdjustSense could realize multiple measurement tasks: 360 3D sensing, 3D sensing at a high spatial resolution around multiple targets, and local 3D sensing at a high spatio-temporal resolution around a single object.
Highlights
Many 3D sensors incorporating these methods became commercially available, allowing people to use 3D sensing technologies [9,10].Most 3D sensors have a constant spatio-temporal resolution and measurement range, providing the user with steady measurement results
We confirmed that the following operations could be adaptively switched with low-latency visual feedback in a single 3D sensing system: 360◦ 3D sensing by highspeed rotation of the line laser, 3D sensing at a high spatial resolution by reciprocating the line laser around multiple approaching objects during one rotation, and 3D sensing and tracking at a high spatio-temporal resolution by focusing the measurement range only on a single nearby object
We proposed AdjustSense, which can switch between multiple measurement tasks with low latency
Summary
Many 3D sensors incorporating these methods became commercially available, allowing people to use 3D sensing technologies [9,10].Most 3D sensors have a constant spatio-temporal resolution and measurement range, providing the user with steady measurement results. The spatial resolution indicates the density of the measured point cloud, the temporal resolution indicates the frequency of measurement updates, and the measurement range indicates the angle range of horizontal and vertical scanning within which it is possible to measure 3D points These constant specifications of the 3D sensing systems and sensors are determined according to measurement targets; 3D sensing systems have specific strengths and weaknesses that depend on the measurement targets. The measurement range in which the structured light can be irradiated without blurs is limited This limitation in the measurement range makes it difficult to measure multiple targets simultaneously at high spatio-temporal resolution. The objective of this study is to realize a single 3D sensing system that can switch between multiple measurement tasks instead of using multiple sensors and devices for 3D sensing
Sign-in/Register to view highlights & summary 
Published Version (
Free)
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call