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Title: Advancements in sensing and perception using structured lighting techniques :an LDRD final report.

Abstract

This report summarizes the analytical and experimental efforts for the Laboratory Directed Research and Development (LDRD) project entitled ''Advancements in Sensing and Perception using Structured Lighting Techniques''. There is an ever-increasing need for robust, autonomous ground vehicles for counterterrorism and defense missions. Although there has been nearly 30 years of government-sponsored research, it is undisputed that significant advancements in sensing and perception are necessary. We developed an innovative, advanced sensing technology for national security missions serving the Department of Energy, the Department of Defense, and other government agencies. The principal goal of this project was to develop an eye-safe, robust, low-cost, lightweight, 3D structured lighting sensor for use in broad daylight outdoor applications. The market for this technology is wide open due to the unavailability of such a sensor. Currently available laser scanners are slow, bulky and heavy, expensive, fragile, short-range, sensitive to vibration (highly problematic for moving platforms), and unreliable for outdoor use in bright sunlight conditions. Eye-safety issues are a primary concern for currently available laser-based sensors. Passive, stereo-imaging sensors are available for 3D sensing but suffer from several limitations : computationally intensive, require a lighted environment (natural or man-made light source), and don't work for many scenesmore » or regions lacking texture or with ambiguous texture. Our approach leveraged from the advanced capabilities of modern CCD camera technology and Center 6600's expertise in 3D world modeling, mapping, and analysis, using structured lighting. We have a diverse customer base for indoor mapping applications and this research extends our current technology's lifecycle and opens a new market base for outdoor 3D mapping. Applications include precision mapping, autonomous navigation, dexterous manipulation, surveillance and reconnaissance, part inspection, geometric modeling, laser-based 3D volumetric imaging, simultaneous localization and mapping (SLAM), aiding first responders, and supporting soldiers with helmet-mounted LADAR for 3D mapping in urban-environment scenarios. The technology developed in this LDRD overcomes the limitations of current laser-based 3D sensors and contributes to the realization of intelligent machine systems reducing manpower need.« less

Authors:
; ;  [1]; ;
  1. (.
Publication Date:
Research Org.:
Sandia National Laboratories
Sponsoring Org.:
USDOE
OSTI Identifier:
875617
Report Number(s):
SAND2005-5935
TRN: US200603%%309
DOE Contract Number:
AC04-94AL85000
Resource Type:
Technical Report
Country of Publication:
United States
Language:
English
Subject:
45 MILITARY TECHNOLOGY, WEAPONRY, AND NATIONAL DEFENSE; ACCURACY; CAMERAS; LASERS; MANPOWER; MARKET; NATIONAL SECURITY; NAVIGATION; SIMULATION; TEXTURE; US DOD; Lighting.; Sensors.; CCD cameras-Scientific applications; Congresses.

Citation Formats

Novick, David Keith, Padilla, Denise D., Davidson, Patrick A. Jr., .), and Carlson, Jeffrey J.. Advancements in sensing and perception using structured lighting techniques :an LDRD final report.. United States: N. p., 2005. Web. doi:10.2172/875617.
Novick, David Keith, Padilla, Denise D., Davidson, Patrick A. Jr., .), & Carlson, Jeffrey J.. Advancements in sensing and perception using structured lighting techniques :an LDRD final report.. United States. doi:10.2172/875617.
Novick, David Keith, Padilla, Denise D., Davidson, Patrick A. Jr., .), and Carlson, Jeffrey J.. Thu . "Advancements in sensing and perception using structured lighting techniques :an LDRD final report.". United States. doi:10.2172/875617. https://www.osti.gov/servlets/purl/875617.
@article{osti_875617,
title = {Advancements in sensing and perception using structured lighting techniques :an LDRD final report.},
author = {Novick, David Keith and Padilla, Denise D. and Davidson, Patrick A. Jr. and .) and Carlson, Jeffrey J.},
abstractNote = {This report summarizes the analytical and experimental efforts for the Laboratory Directed Research and Development (LDRD) project entitled ''Advancements in Sensing and Perception using Structured Lighting Techniques''. There is an ever-increasing need for robust, autonomous ground vehicles for counterterrorism and defense missions. Although there has been nearly 30 years of government-sponsored research, it is undisputed that significant advancements in sensing and perception are necessary. We developed an innovative, advanced sensing technology for national security missions serving the Department of Energy, the Department of Defense, and other government agencies. The principal goal of this project was to develop an eye-safe, robust, low-cost, lightweight, 3D structured lighting sensor for use in broad daylight outdoor applications. The market for this technology is wide open due to the unavailability of such a sensor. Currently available laser scanners are slow, bulky and heavy, expensive, fragile, short-range, sensitive to vibration (highly problematic for moving platforms), and unreliable for outdoor use in bright sunlight conditions. Eye-safety issues are a primary concern for currently available laser-based sensors. Passive, stereo-imaging sensors are available for 3D sensing but suffer from several limitations : computationally intensive, require a lighted environment (natural or man-made light source), and don't work for many scenes or regions lacking texture or with ambiguous texture. Our approach leveraged from the advanced capabilities of modern CCD camera technology and Center 6600's expertise in 3D world modeling, mapping, and analysis, using structured lighting. We have a diverse customer base for indoor mapping applications and this research extends our current technology's lifecycle and opens a new market base for outdoor 3D mapping. Applications include precision mapping, autonomous navigation, dexterous manipulation, surveillance and reconnaissance, part inspection, geometric modeling, laser-based 3D volumetric imaging, simultaneous localization and mapping (SLAM), aiding first responders, and supporting soldiers with helmet-mounted LADAR for 3D mapping in urban-environment scenarios. The technology developed in this LDRD overcomes the limitations of current laser-based 3D sensors and contributes to the realization of intelligent machine systems reducing manpower need.},
doi = {10.2172/875617},
journal = {},
number = ,
volume = ,
place = {United States},
year = {Thu Sep 01 00:00:00 EDT 2005},
month = {Thu Sep 01 00:00:00 EDT 2005}
}

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