Use Of Laser Range Finder Research Articles

Laser Phase Rangefinders: Ways to Improve Accuracy

Scientific and technological progress in the field of geodetic and industrial measurements in terms of the use of laser rangefinders operating in ranges up to 5000 meters has led to a reduction in the error of such measuring instruments over the past ten years by two or more times. Such rapid development of high-precision rangefinder technologies has led to a significant revision of the requirements for their metrological support, as well as to the need to develop a new generation of length standards, the stock of metrological accuracy of which would provide an assessment of the metrological characteristics of all types of existing and promising length measuring instruments with a laser rangefinder. To solve this problem, the Institute’s staff conducted research within the framework of a number of thematic research and development works in terms of developing the appearance of a new generation of length standards operating in the range up to 5000 meters in an open atmosphere. Within the framework of this article, one of the developed models of a high-precision complex of measuring instruments for length and coordinate increments is considered, which is a serial high-precision laser phase light meter, modified by the institute’s staff in terms of the system for receiving and processing measuring signals. At the same time, in order to increase the accuracy of length measurements using the developed range finder layout, it is proposed to investigate ways to reduce the errors of the model components of the boundaries of its error. To ensure the smallest error in determining the hardware correction of the rangefinder layout, it is proposed to use funds from the state primary special standard of the unit of length. As promising ways to reduce the error in determining the phase difference of signals, it is proposed to use digital recording and signal processing devices that implement a method for calculating the phase difference of signals by mathematically processing the recorded data using a specially developed computational algorithm based on Fourier analysis. For the most accurate determination of the values of the pulse repetition frequency of signals and the values of the speed of light on the measured track, it is proposed to improve the means of determining these indicators. The use of the proposed methods to improve the accuracy of measuring the length of laser phase rangefinders allows you to provide the necessary margin of metrological accuracy.

LAND UNMANNED COMPLEX WITH PASSIVE RANGE MEASUREMENT

The automatic robotic complex will obviously become one of the main subjects in the conduct of military actions in the near future. To control movement parameters, as well as search, target detection and aiming, the complex includes a technical vision system.
 The minimum sufficient configuration of such a system includes a television search camera with a wide field of view, television and thermal imaging sights, and a rangefinder. The use of laser rangefinders ensures high accuracy of aiming weapons, but generates a powerful unmasking feature. To ensure the secrecy of the functioning of the robotic complex, range finders can operate in a passive mode using information from on-board television cameras. But at the same time, the metrological characteristics of the information measuring channel are significantly deteriorated. Accuracy of five methods of passive distance measurement with application of TV-systems of land unmanned complex is assessed in paper.
 Classic method of TV-sight external-base range-finder with scale, designed on human height 1,65 m, is ensuring measurement accuracy 135 m on distance 1000 m. External base method, when a range finger scale is forming on remote display as variable length vertical line in process of target framing, is ensuring measurement accuracy 100,3 m on dis-tance 1000 m. Fixed-base range-finder method, when distance between entrance pupils of TV-sight and wide viewing field camera using as base, is ensuring measurement accuracy 76 m on distance 1000 m. 
 Distance measurement method due to displacement of land unmanned complex ensures a measurement accuracy up to 168 m on distance 1000 m.
 Measurement method due to using zoom-objective is not suitable for land unmanned complex. Proposals have been formulated for the spatial layout of the computer vision system, in which the method of the fixed-base rangefinder is implemented, which ensures the highest measurement accuracy.

Shore Construction Detection by Automotive Radar for the Needs of Autonomous Surface Vehicle Navigation

Autonomous surface vehicles (ASVs) are becoming more and more popular for performing hydrographic and navigational tasks. One of the key aspects of autonomous navigation is the need to avoid collisions with other objects, including shore structures. During a mission, an ASV should be able to automatically detect obstacles and perform suitable maneuvers. This situation also arises in near-coastal areas, where shore structures like berths or moored vessels can be encountered. On the other hand, detection of coastal structures may also be helpful for berthing operations. An ASV can be launched and moored automatically only if it can detect obstacles in its vicinity. One commonly used method for target detection by ASVs involves the use of laser rangefinders. The main disadvantage of this approach is that such systems perform poorly in conditions with bad visibility, such as in fog or heavy rain. Therefore, alternative methods need to be sought. An innovative approach to this task is presented in this paper, which describes the use of automotive three-dimensional radar on a floating platform. The goal of the study was to assess target detection possibilities based on a comparison with photogrammetric images obtained by an unmanned aerial vehicle (UAV). The scenarios considered focused on analyzing the possibility of detecting shore structures like berths, wooden jetties, and small houses, as well as natural objects like trees or other kinds of vegetation. The recording from the radar was integrated into a single complex radar image of shore targets. It was then compared with an orthophotomap prepared from AUV camera pictures, as well as with a map based on traditional land surveys. The possibility and accuracy of detection for various types of shore structure were statistically assessed. The results show good potential for the proposed approach—in general, objects can be detected using the radar—although there is a need for development of further signal processing algorithms.

Generating linear regression model to predict motor functions by use of laser range finder during TUG.

The purpose of this study was to investigate which spatial and temporal parameters of the Timed Up and Go (TUG) test are associated with motor function in elderly individuals. This study included 99 community-dwelling women aged 72.9±6.3 years. Step length, step width, single support time, variability of the aforementioned parameters, gait velocity, cadence, reaction time from starting signal to first step, and minimum distance between the foot and a marker placed to 3 in front of the chair were measured using our analysis system. The 10-m walk test, five times sit-to-stand (FTSTS) test, and one-leg standing (OLS) test were used to assess motor function. Stepwise multivariate linear regression analysis was used to determine which TUG test parameters were associated with each motor function test. Finally, we calculated a predictive model for each motor function test using each regression coefficient. In stepwise linear regression analysis, step length and cadence were significantly associated with the 10-m walk test, FTSTS and OLS test. Reaction time was associated with the FTSTS test, and step width was associated with the OLS test. Each predictive model showed a strong correlation with the 10-m walk test and OLS test (P<0.01), which was not significant higher correlation than TUG test time. We showed which TUG test parameters were associated with each motor function test. Moreover, the TUG test time regarded as the lower extremity function and mobility has strong predictive ability in each motor function test.

Intelligent Indoor Mobile Robot Navigation Using Stereo Vision

Majority of the existing robot navigation systems, which facilitate the use of laser range finders, sonar sensors or artificial landmarks, has the ability to locate itself in an unknown environment and then build a map of the corresponding environment. Stereo vision, while still being a rapidly developing technique in the field of autonomous mobile robots, are currently less preferable due to its high implementation cost. This paper aims at describing an experimental approach for the building of a stereo vision system that helps the robots to avoid obstacles and navigate through indoor environments and at the same time remaining very much cost effective. This paper discusses the fusion techniques of stereo vision and ultrasound sensors which helps in the successful navigation through different types of complex environments. The data from the sensor enables the robot to create the two dimensional topological map of unknown environments and stereo vision systems models the three dimension model of the same environment.

The use of laser range finder on a robotic platform for pipe inspection

In this paper, we investigate the use of a laser range finder on a robotic platform for buried water pipe inspection. A robotic platform carrying and manipulating multiple nondestructive inspection sensors may require accurately locating robot's body in the pipe. The laser range finder provides an accurate distance measurement, which can generate a profile of the pipe inner surface. This profile, on one hand, can be used to identify the location of the laser source and thus the robot's body. Such information can further help the navigation of the robot. On the other hand, the anomalies presented in the profile can be detected and characterized in terms of the range measurement. The simulated and real data tests presented in this paper demonstrate the feasibility and effectiveness of incorporating the laser range finder into a robotic platform for the underground pipe inspection.

Multi-Sensor Person Following in Low-Visibility Scenarios

Person following with mobile robots has traditionally been an important research topic. It has been solved, in most cases, by the use of machine vision or laser rangefinders. In some special circumstances, such as a smoky environment, the use of optical sensors is not a good solution. This paper proposes and compares alternative sensors and methods to perform a person following in low visibility conditions, such as smoky environments in firefighting scenarios. The use of laser rangefinder and sonar sensors is proposed in combination with a vision system that can determine the amount of smoke in the environment. The smoke detection algorithm provides the robot with the ability to use a different combination of sensors to perform robot navigation and person following depending on the visibility in the environment.

Improved Scene Reconstruction from Range Images

The modeling of real scenes is a complex and challenging task for which the use of laser rangefinders is one of the most promising approaches. Unfortunately, in many situations, it is not possible or practical to guarantee appropriate sampling of all surfaces in the scene. For example, occlusions and accessibility limitations to certain regions of the scene may cause some areas not to be visible by the scanner, resulting in incomplete or incorrectly reconstructed models. This paper describes a pipeline and a system implementation for improving model reconstruction from incomplete information available from range images. Categories and Subject Descriptors (according to ACM CCS): I.3.7 [Computer Graphics]: Three-Dimensional Graphics and Realism, Virtual Reality