ROS and Stereovision Collaborative System
Publikation: Beiträge in Sammelwerken › Kapitel
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ROS and Stereovision Collaborative System. / Alaniz-Plata, Ruben; Sergyienko, Oleg; Flores-Fuentes, Wendy et al.
Optoelectronic Devices in Robotic Systems. Hrsg. / Oleg Sergiyenko. Springer Nature Switzerland AG, 2022. S. 71-113.Publikation: Beiträge in Sammelwerken › Kapitel
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TY - CHAP
T1 - ROS and Stereovision Collaborative System
AU - Alaniz-Plata, Ruben
AU - Sergyienko, Oleg
AU - Flores-Fuentes, Wendy
AU - Tyrsa, Vera V.
AU - Rodriguez Quinonez, Julio Cesar
AU - Sepúlveda-Valdez, Cesar Antonio
AU - Andrade-Collazo, Humberto
AU - Mercorelli, Paolo
AU - Lindner, Lars
N1 - Publisher Copyright: © The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Switzerland AG 2022.
PY - 2022/10/30
Y1 - 2022/10/30
N2 - In this chapter, a collaborative work between stereo and a laser scanning system is presented in order to obtain an enriched matrix of rectangular coordinates of elements in a scene using SAD for stereovision and real-time dynamic triangulation in ROS as processing algorithms. Dense data volume and precise depth estimation are the complementary parameters for enrichment and the main reasons for taking these systems to work together on applications as robot navigation, structural health, and body scanning. This combination improves weak points of each separate system, thanks to the use of output data of each technique for calibration and control of the other technique, making it redundant when data confirmation is required and increasing of data volume. Systems link is done through ROIs and known relative position between cameras and ROS positioner and aperture, achieving a collaborative work even when there is displacement. For future work, sensors comparison and motor control optimization is expected for scanning time reduction.
AB - In this chapter, a collaborative work between stereo and a laser scanning system is presented in order to obtain an enriched matrix of rectangular coordinates of elements in a scene using SAD for stereovision and real-time dynamic triangulation in ROS as processing algorithms. Dense data volume and precise depth estimation are the complementary parameters for enrichment and the main reasons for taking these systems to work together on applications as robot navigation, structural health, and body scanning. This combination improves weak points of each separate system, thanks to the use of output data of each technique for calibration and control of the other technique, making it redundant when data confirmation is required and increasing of data volume. Systems link is done through ROIs and known relative position between cameras and ROS positioner and aperture, achieving a collaborative work even when there is displacement. For future work, sensors comparison and motor control optimization is expected for scanning time reduction.
KW - Engineering
KW - stereo vision
KW - Laser scanner
KW - Vision system
KW - collaborative system
KW - Depth map
KW - Reatangular position
KW - Data Processing
KW - Enriched data
UR - https://www.mendeley.com/catalogue/0beca646-7a4f-32cd-bfa4-3bd434e28ad1/
UR - http://www.scopus.com/inward/record.url?scp=85153879675&partnerID=8YFLogxK
U2 - 10.1007/978-3-031-09791-1_4
DO - 10.1007/978-3-031-09791-1_4
M3 - Chapter
SN - 978-3-031-09790-4
SP - 71
EP - 113
BT - Optoelectronic Devices in Robotic Systems
A2 - Sergiyenko, Oleg
PB - Springer Nature Switzerland AG
ER -