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Optimization of 3D laser scanning speed by use of combined variable step

Research output: Journal contributions › Journal articles › Research › peer-review

Standard

Optimization of 3D laser scanning speed by use of combined variable step. / Garcia-Cruz, X.M.; Sergiyenko, Oleg Yu; Tyrsa, Vera et al.
In: Optics and Lasers in Engineering, Vol. 54, No. March, 03.2014, p. 141-151.

Research output: Journal contributions › Journal articles › Research › peer-review

Harvard

Garcia-Cruz, XM, Sergiyenko, OY, Tyrsa, V, Rivas-Lopez, M, Hernandez-Balbuena, D, Rodríguez-Quiñonez, JC, Basaca-Preciado, LC & Mercorelli, P 2014, 'Optimization of 3D laser scanning speed by use of combined variable step', Optics and Lasers in Engineering, vol. 54, no. March, pp. 141-151. https://doi.org/10.1016/j.optlaseng.2013.08.011

APA

Garcia-Cruz, X. M., Sergiyenko, O. Y., Tyrsa, V., Rivas-Lopez, M., Hernandez-Balbuena, D., Rodríguez-Quiñonez, J. C., Basaca-Preciado, L. C., & Mercorelli, P. (2014). Optimization of 3D laser scanning speed by use of combined variable step. Optics and Lasers in Engineering, 54(March), 141-151. https://doi.org/10.1016/j.optlaseng.2013.08.011

Vancouver

Garcia-Cruz XM, Sergiyenko OY, Tyrsa V, Rivas-Lopez M, Hernandez-Balbuena D, Rodríguez-Quiñonez JC et al. Optimization of 3D laser scanning speed by use of combined variable step. Optics and Lasers in Engineering. 2014 Mar;54(March):141-151. doi: 10.1016/j.optlaseng.2013.08.011

Bibtex

@article{db87f22d16534584bfbb1b43707f91d2,
title = "Optimization of 3D laser scanning speed by use of combined variable step",
abstract = "The problem of 3D TVS slow functioning caused by constant small scanning step becomes its solution in the presented research. It can be achieved by combined scanning step application for the fast search of n obstacles in unknown surroundings. Such a problem is of keynote importance in automatic robot navigation. To maintain a reasonable speed robots must detect dangerous obstacles as soon as possible, but all known scanners able to measure distances with sufficient accuracy are unable to do it in real time. So, the related technical task of the scanning with variable speed and precise digital mapping only for selected spatial sectors is under consideration. A wide range of simulations in MATLAB 7.12.0 of several variants of hypothetic scenes with variable n obstacles in each scene (including variation of shapes and sizes) and scanning with incremented angle value (0.6° up to 15°) is provided. The aim of such simulation was to detect which angular values of interval still permit getting the maximal information about obstacles without undesired time losses. Three of such local maximums were obtained in simulations and then rectified by application of neuronal network formalism (Levenberg-Marquradt Algorithm). The obtained results in its turn were applied to MET (Micro-Electro-mechanical Transmission) design for practical realization of variable combined step scanning on an experimental prototype of our previously known laser scanner.",
keywords = "Engineering, Dynamic Triangulation, Neural Network, Scanning step, Scene, Technical vision system",
author = "X.M. Garcia-Cruz and Sergiyenko, {Oleg Yu} and Vera Tyrsa and Moises Rivas-Lopez and Daniel Hernandez-Balbuena and Rodr{\'i}guez-Qui{\~n}onez, {Julio C.} and Basaca-Preciado, {Luis C.} and P. Mercorelli",
year = "2014",
month = mar,
doi = "10.1016/j.optlaseng.2013.08.011",
language = "English",
volume = "54",
pages = "141--151",
journal = "Optics and Lasers in Engineering",
issn = "0143-8166",
publisher = "Elsevier Ltd",
number = "March",

}

RIS

TY - JOUR

T1 - Optimization of 3D laser scanning speed by use of combined variable step

AU - Garcia-Cruz, X.M.

AU - Sergiyenko, Oleg Yu

AU - Tyrsa, Vera

AU - Rivas-Lopez, Moises

AU - Hernandez-Balbuena, Daniel

AU - Rodríguez-Quiñonez, Julio C.

AU - Basaca-Preciado, Luis C.

AU - Mercorelli, P.

PY - 2014/3

Y1 - 2014/3

N2 - The problem of 3D TVS slow functioning caused by constant small scanning step becomes its solution in the presented research. It can be achieved by combined scanning step application for the fast search of n obstacles in unknown surroundings. Such a problem is of keynote importance in automatic robot navigation. To maintain a reasonable speed robots must detect dangerous obstacles as soon as possible, but all known scanners able to measure distances with sufficient accuracy are unable to do it in real time. So, the related technical task of the scanning with variable speed and precise digital mapping only for selected spatial sectors is under consideration. A wide range of simulations in MATLAB 7.12.0 of several variants of hypothetic scenes with variable n obstacles in each scene (including variation of shapes and sizes) and scanning with incremented angle value (0.6° up to 15°) is provided. The aim of such simulation was to detect which angular values of interval still permit getting the maximal information about obstacles without undesired time losses. Three of such local maximums were obtained in simulations and then rectified by application of neuronal network formalism (Levenberg-Marquradt Algorithm). The obtained results in its turn were applied to MET (Micro-Electro-mechanical Transmission) design for practical realization of variable combined step scanning on an experimental prototype of our previously known laser scanner.

AB - The problem of 3D TVS slow functioning caused by constant small scanning step becomes its solution in the presented research. It can be achieved by combined scanning step application for the fast search of n obstacles in unknown surroundings. Such a problem is of keynote importance in automatic robot navigation. To maintain a reasonable speed robots must detect dangerous obstacles as soon as possible, but all known scanners able to measure distances with sufficient accuracy are unable to do it in real time. So, the related technical task of the scanning with variable speed and precise digital mapping only for selected spatial sectors is under consideration. A wide range of simulations in MATLAB 7.12.0 of several variants of hypothetic scenes with variable n obstacles in each scene (including variation of shapes and sizes) and scanning with incremented angle value (0.6° up to 15°) is provided. The aim of such simulation was to detect which angular values of interval still permit getting the maximal information about obstacles without undesired time losses. Three of such local maximums were obtained in simulations and then rectified by application of neuronal network formalism (Levenberg-Marquradt Algorithm). The obtained results in its turn were applied to MET (Micro-Electro-mechanical Transmission) design for practical realization of variable combined step scanning on an experimental prototype of our previously known laser scanner.

KW - Engineering

KW - Dynamic Triangulation

KW - Neural Network

KW - Scanning step

KW - Scene

KW - Technical vision system

UR - http://www.scopus.com/inward/record.url?scp=84889091271&partnerID=8YFLogxK

UR - https://www.mendeley.com/catalogue/238b080d-8238-3ee1-a0e6-81c39aa900dc/

U2 - 10.1016/j.optlaseng.2013.08.011

DO - 10.1016/j.optlaseng.2013.08.011

M3 - Journal articles

VL - 54

SP - 141

EP - 151

JO - Optics and Lasers in Engineering

JF - Optics and Lasers in Engineering

SN - 0143-8166

IS - March

ER -

Related by journal

Optical 3D laser measurement system for navigation of autonomous mobile robot

Básaca-Preciado, L. C., Sergiyenko, O. Y., Rodríguez-Quinonez, J. C., García, X., Tyrsa, V. V., Rivas-Lopez, M., Hernández-Balbuena, D., Mercorelli, P., Podrygalo, M. A., Gurko, A., Tabakova, I. & Starostenko, O., 03.2014, In: Optics and Lasers in Engineering. 54, p. 159-169 11 p.

Research output: Journal contributions › Journal articles › Research › peer-review

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Research output: Journal contributions › Journal articles › Research › peer-review

Automatic Tuning of Extended Kalman Filter in Synchronous Reluctance Motor Drives with a Master-Slave Configuration

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Research output: Journal contributions › Journal articles › Research › peer-review

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Kurniawan, S. & Mercorelli, P., 27.05.2025, 5th Congress on Intelligent Systems, CIS 2024: Volume 1. Kumar, S., Mary Anita, E. A., Kim, J. H. & Nagar, A. (eds.). Springer Science and Business Media Deutschland, p. 309-320 12 p. (Lecture Notes in Networks and Systems; vol. 1275).

Research output: Contributions to collected editions/works › Article in conference proceedings › Research › peer-review

Control Allocation and Controller Tuning for an Over-Actuated Hexacopter Tilt-Rotor Applied for Precision Agriculture

Libório, L. O., Pimentel, G. O., Dos Santos, M. F., Fernandes, F. M., Lima, J., De Morais, M. H. F., Mercorelli, P. & Pereira, A. I., 2025, Proceedings of the 2025 26th International Carpathian Control Conference, ICCC 2025. Kacur, J., Skovranek, T., Laciak, M. & Mojzisova, A. (eds.). Institute of Electrical and Electronics Engineers Inc., (Proceedings of the 2025 26th International Carpathian Control Conference, ICCC 2025).

Research output: Contributions to collected editions/works › Article in conference proceedings › Research › peer-review

DOI

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