Adaptive pulsed laser line extraction for terrain reconstruction using a dynamic vision sensor
Mantel, Thomas A.Show all
- Journal Article
Rights / licenseCreative Commons Attribution 3.0 Unported
Mobile robots need to know the terrain in which they are moving for path planning and obstacle avoidance. This paper proposes the combination of a bio-inspired, redundancy-suppressing dynamic vision sensor (DVS) with a pulsed line laser to allow fast terrain reconstruction. A stable laser stripe extraction is achieved by exploiting the sensor's ability to capture the temporal dynamics in a scene. An adaptive temporal filter for the sensor output allows a reliable reconstruction of 3D terrain surfaces. Laser stripe extractions up to pulsing frequencies of 500 Hz were achieved using a line laser of 3 mW at a distance of 45 cm using an event-based algorithm that exploits the sparseness of the sensor output. As a proof of concept, unstructured rapid prototype terrain samples have been successfully reconstructed with an accuracy of 2 mm. Show more
Journal / seriesFrontiers in Neuroscience
Pages / Article No.
PublisherFrontiers Research Foundation
SubjectEurommphic; Robotics; Event-based; Address-event representation (AER); Dynamic vision sensor (DVS); Silicon retina
Organisational unit03453 - Douglas, Rodney J.
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