Abstract
This paper presents a 3D contour reconstruction approach employing a wheeled mobile robot equipped with an active laser-vision system. With observation from an onboard CCD camera, a laser line projector fixed-mounted below the camera is used for detecting the bottom shape of an object while an actively-controlled upper laser line projector is utilized for 3D contour reconstruction. The mobile robot is driven to move around the object by a visual servoing and localization technique while the 3D contour of the object is being reconstructed based on the 2D image of the projected laser line. Asymptotical convergence of the closed-loop system has been established. The proposed algorithm also has been used experimentally with a Dr Robot X80sv mobile robot upgraded with the low-cost active laser-vision system, thereby demonstrating effective real-time performance. This seemingly novel laser-vision robotic system can be applied further in unknown environments for obstacle avoidance and guidance control tasks. Copyright © 2011 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society
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