Real-Time 3D Mapping in Complex Environments Using a Spinning Actuated LiDAR System

Automatic Calibration of Spinning Actuated Lidar Internal Parameters

Actuated lidar, where a scanning lidar is combined with an actuation mechanism to scan a 3D volume rather than a single line, has been used heavily on a wide variety of field robotics applications. Common examples of actuated lidar include spinning/rolling and nodding/pitching configurations. Due to construction of actuated lidar, the center of rotation of the lidar mirror may not coincide with...

Detection of Congenital Mullerian Anomalies Using Real-Time 3D Sonography

LOAM: Lidar Odometry and Mapping in Real-time

We propose a real-time method for odometry and mapping using range measurements from a 2-axis lidar moving in 6-DOF. The problem is hard because the range measurements are received at different times, and errors in motion estimation can cause mis-registration of the resulting point cloud. To date, coherent 3D maps can be built by off-line batch methods, often using loop closure to correct for d...

Spacecraft Navigation in Cluttered, Dynamic Environments Using 3D Lidar

Many new classes of deep-space and on-orbit missions require efficient navigation of environments having untracked dynamic obstacles. Space probes will need to autonomously identify and classify these objects for purposes of localization, collision avoidance, and identification of targets having high value (scientific or otherwise). In addition, lidar is becoming a key sensing tool for close pr...

Dynamic Fire 3D Modeling Using a Real-Time Stereovision System

This work presents a new framework for three-dimensional modeling of dynamic fires present in unstructured scenes. The proposed approach addresses the problem of segmenting fire regions using information from YUV and RGB color spaces. Clustering is also used to extract salient points from a pair of stereo images. These points are then used to reconstruct 3D positions in the scene. A matching st...