ROS and Stereovision Collaborative System

Research output: Contributions to collected editions/worksChapter

Standard

ROS and Stereovision Collaborative System. / Alaniz-Plata, Ruben; Sergyienko, Oleg; Flores-Fuentes, Wendy et al.
Optoelectronic Devices in Robotic Systems. ed. / Oleg Sergiyenko. Springer Nature Switzerland AG, 2022. p. 71-113.

Research output: Contributions to collected editions/worksChapter

Harvard

Alaniz-Plata, R, Sergyienko, O, Flores-Fuentes, W, Tyrsa, VV, Rodriguez Quinonez, JC, Sepúlveda-Valdez, CA, Andrade-Collazo, H, Mercorelli, P & Lindner, L 2022, ROS and Stereovision Collaborative System. in O Sergiyenko (ed.), Optoelectronic Devices in Robotic Systems. Springer Nature Switzerland AG, pp. 71-113. https://doi.org/10.1007/978-3-031-09791-1_4

APA

Alaniz-Plata, R., Sergyienko, O., Flores-Fuentes, W., Tyrsa, V. V., Rodriguez Quinonez, J. C., Sepúlveda-Valdez, C. A., Andrade-Collazo, H., Mercorelli, P., & Lindner, L. (2022). ROS and Stereovision Collaborative System. In O. Sergiyenko (Ed.), Optoelectronic Devices in Robotic Systems (pp. 71-113). Springer Nature Switzerland AG. https://doi.org/10.1007/978-3-031-09791-1_4

Vancouver

Alaniz-Plata R, Sergyienko O, Flores-Fuentes W, Tyrsa VV, Rodriguez Quinonez JC, Sepúlveda-Valdez CA et al. ROS and Stereovision Collaborative System. In Sergiyenko O, editor, Optoelectronic Devices in Robotic Systems. Springer Nature Switzerland AG. 2022. p. 71-113 doi: 10.1007/978-3-031-09791-1_4

Bibtex

@inbook{4c777c3176a241a0b3076c3cfef0ef2f,
title = "ROS and Stereovision Collaborative System",
abstract = "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.",
keywords = "Engineering, stereo vision, Laser scanner, Vision system, collaborative system, Depth map, Reatangular position, Data Processing, Enriched data",
author = "Ruben Alaniz-Plata and Oleg Sergyienko and Wendy Flores-Fuentes and Tyrsa, {Vera V.} and {Rodriguez Quinonez}, {Julio Cesar} and Sep{\'u}lveda-Valdez, {Cesar Antonio} and Humberto Andrade-Collazo and Paolo Mercorelli and Lars Lindner",
note = "Publisher Copyright: {\textcopyright} The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Switzerland AG 2022.",
year = "2022",
month = oct,
day = "30",
doi = "10.1007/978-3-031-09791-1_4",
language = "English",
isbn = "978-3-031-09790-4",
pages = "71--113",
editor = "Oleg Sergiyenko",
booktitle = "Optoelectronic Devices in Robotic Systems",
publisher = "Springer Nature Switzerland AG",
address = "Switzerland",

}

RIS

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

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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 -