A Compact and Infrastructure-free Confined Space Sensor for 3D Scanning and SLAM
Italian National Conference on Sensors(2020)
Abstract
High-precision inspection and metrology in short-range and tight spaces are challenging due to the lack of a commercial off-the-shelf (COTS) 3D scanner that is compact and does not rely on any external infrastructure (e.g., fiducial markers, motion-capture cameras, or laser tracking interferometer) to provide positioning or localization support. This paper presents a hardware and software design framework for creating a low-cost, miniature, yet intelligent sensor that is able to capture visual imagery, reconstruct 3D geometry, and most importantly, perform Simultaneous Localization and Mapping (SLAM) without sensory feedback from external devices. We further present an example sensor design that follows this framework, with experiments to evaluate and compare the sensor performance against a state-of-the-art COTS sensor, under both feature-sparse and feature-dense scenarios to simulate industrial and household 3D scanning application scenarios.
MoreTranslated text
Key words
motion-capture cameras,laser tracking interferometer,software design framework,intelligent sensor,visual imagery,household 3D scanning application scenarios,SLAM,compact infrastructure-free confined space sensor,commercial off-the-shelf 3D scanner,COTS 3D scanner,simultaneous localization and mapping
AI Read Science
Must-Reading Tree
Example
![](https://originalfileserver.aminer.cn/sys/aminer/pubs/mrt_preview.jpeg)
Generate MRT to find the research sequence of this paper
Chat Paper
Summary is being generated by the instructions you defined