ROS and Stereovision Collaborative System
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Authors
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.
| Original language | English |
|---|---|
| Title of host publication | Optoelectronic Devices in Robotic Systems |
| Editors | Oleg Sergiyenko |
| Number of pages | 43 |
| Publisher | Springer Nature Switzerland AG |
| Publication date | 30.10.2022 |
| Pages | 71-113 |
| ISBN (print) | 978-3-031-09790-4 |
| ISBN (electronic) | 978-3-031-09791-1 |
| DOIs | |
| Publication status | Published - 30.10.2022 |
Bibliographical note
Publisher Copyright:
© The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Switzerland AG 2022.
- Engineering - stereo vision, Laser scanner, Vision system, collaborative system, Depth map, Reatangular position, Data Processing, Enriched data