Method of spatiotemporal data synchronization between a robotic manipulator and a laser scanner

Abstract

Method of spatiotemporal data synchronization between a robotic manipulator and a laser scanner enables precise alignment of data from the position system of the robotic manipulator with profile measurements from a laser scanner in cases where the scanner operates in batch data acquisition mode without the possibility of hardware measurement triggering. The method allows determining both temporal and spatial offsets between independently acquired data streams so that a consistent 3D record of the measured surface can be created. The solution eliminates the need for manual signal synchronization and increases the accuracy of reconstruction in measurements performed in automated workplaces with a robotic manipulator.