Mobile robots need to know the terrain in which they are moving for path planning and obstacle avoidance. This paper proposes the combination of a bio-inspired, redundancy-suppressing dynamic vision sensor (DVS) with a pulsed line laser to allow fast terrain reconstruction. A stable laser stripe extraction is achieved by exploiting the sensor's ability to capture the temporal dynamics in a scene. An adaptive temporal filter for the sensor output allows a reliable reconstruction of 3D terrain surfaces. Laser stripe extractions up to pulsing frequencies of 500 Hz were achieved using a line laser of 3 mW at a distance of 45 cm using an event-based algorithm that exploits the sparseness of the sensor output. As a proof of concept, unstructured rapid prototype terrain samples have been successfully reconstructed with an accuracy of 2 mm. © 2014 Brandli, Mantel, Hutter, Höpflinger, Berner, Siegwart and Delbruck.
CITATION STYLE
Brandli, C., Mantel, T. A., Hutter, M., Höpflinger, M. A., Berner, R., Siegwart, R., & Delbruck, T. (2014). Adaptive pulsed laser line extraction for terrain reconstruction using a dynamic vision sensor. Frontiers in Neuroscience, (8 JAN). https://doi.org/10.3389/fnins.2013.00275
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