Performance evaluation of a high-frame rate 3D range sensor for construction applications

Abstract

The NIST Construction Metrology and Automation Group (CMAG) has ongoing research in the application of laser imaging technologies in construction. Previous work has primarily focused on terrestrial LADAR scanning for applications such as terrain characterization, earthmoving analysis, and targeted object localization. The LADAR systems used in those research efforts can be characterized by long scan intervals and dense point cloud returns. Current research includes the investigation of a new class of commerciallyavailable, optical range image sensors for construction mobility applications. These flash LADAR systems (or 3D range cameras) yield a low resolution 3D range map and intensity image at up to 30 frames per second, and show promise for applications such as obstacle avoidance and object detection and tracking. This paper summarizes recent CMAG research with these sensors including calibration and performance evaluation. Future work involving crane obstacle avoidance and positioning is also discussed.