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《Journal of Beijing University of Aeronautics and Astronautics》 2009-05
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3D laser scanning algorithm with humanoid-eye function

Chen Weihai Song Weiyang Rong Lixia Liu Jingmeng(School of Automation Science and Electrical Engineering,Beijing University of Aeronautics and Astronautics,Beijing 100191,China)  
Aiming at the scanning efficiency of three dimensional(3D) laser scanning system for mobile robot all over the world,a humanoid-eye 3D laser scanning algorithm was proposed.Imitating the scanning function of human eyes from bionics,this algorithm divides the scanning process into two steps: according to the scanning information currently,the scanning scheme of the next step will be planned to reduce the gain of useless information;Through adopting the stepping interpolation location to fetch up the time consuming from stepping scan,the efficiency of the scan can be improved.To satisfy the real-time requirement for the online computing,a hardware architecture consisting of digital signal processing(DSP) and field-programmable gate array(FPGA) was proposed.Therefore,as the main controller,DSP can obtain 3D laser data;as the coprocessor,FPGA can complete the scanning algorithm.The experiment result shows the humanoid-eye scanning algorithm can improve the efficiency of the 3D scanning system greatly.
【Fund】: 国家863计划资助项目(2006AA04Z218)(2008AA04Z210);; 国家自然科学基金资助项目(60775059)
【CateGory Index】: TP242.62
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