Laser Scanner Position Determination via Multi-Angle 3D Image Comparison
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Solution Overview
Problem
Current methods for determining the relative position of a laser scanner on a moving vehicle require time-consuming and costly calibration processes, especially during initial installation or replacement, which hampers efficiency and accuracy in creating 3D images of surroundings.
Innovation Solution
A method involving adjusting the laser scanner's scanning plane to multiple angular positions, capturing 3D images from different angles, and comparing the spatial positions of objects within these images to determine the relative position without the need for special tools or environments, allowing for rapid assembly and replacement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If calibration measurements are performed in a controlled measurement environment, then measurement precision is improved, but loss of time and productivity deteriorate due to the time-consuming and costly calibration process
Solution Approach 1:
The system performs self-calibration by using the laser scanner itself to capture images of the surrounding environment. The calibration process does not require external calibration tools or controlled measurement environments, but rather uses the scanner's own imaging capability to determine its position and orientation relative to the reference system through image comparison algorithms.
Solution Approach 2:
The calibration is performed automatically as a preliminary step before actual measurement operations. The system captures calibration images and computes the transformation parameters between the laser scanner coordinate system and the reference system in advance, so that subsequent measurements can immediately use these pre-determined parameters without requiring repeated calibration.
2Measurement precision
If calibration is performed after every installation or replacement of the laser scanner, then measurement precision is improved, but productivity and ease of operation worsen due to repeated time-consuming calibration requirements
Solution Approach 1:
The laser scanner performs its own calibration automatically without requiring external calibration equipment or controlled environments. The system uses its imaging capability to capture calibration images and compute transformation parameters autonomously, eliminating the need for specialized calibration procedures after each installation or replacement.
Solution Approach 2:
The patent replaces traditional mechanical calibration methods (which require controlled measurement environments and specialized tools) with an optical/image-based calibration approach. By using the laser scanner's own imaging system to capture and analyze calibration images, the method eliminates the need for mechanical calibration equipment and controlled environments, enabling rapid field calibration.
3Measurement precision
If the laser scanner position is determined using traditional calibration methods, then measurement precision is improved, but device complexity and cost increase due to requirement of special calibration tools and controlled environments
Solution Approach 1:
The laser scanner uses its own imaging capability to perform calibration, eliminating the need for external calibration tools, reference objects, or controlled measurement environments. The system captures calibration images of the surrounding environment and computes transformation parameters autonomously, significantly simplifying the calibration system.
Solution Approach 2:
The laser scanner's imaging system serves dual purposes: it performs both the calibration function and the actual measurement function. The same optical system and image processing algorithms are used for both determining the scanner's position and orientation relative to the reference system and for capturing measurement data, eliminating the need for separate calibration equipment.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables quick and accurate determination of the laser scanner's position relative to the vehicle's reference system, reducing measurement errors and facilitating rapid deployment and maintenance without compromising imaging accuracy.
Implementation Method 1
a laser scanner, which detects a 2D profile of its surroundings in a scanning plane
Data Source
Figure 1
Figure 2a~3b
Figure 4~5
AI summary
The method involves detecting a two dimensional profile (10) of an environment (9) in a scanning plane (8) by a three dimensional (3D) laser scanner (3). The profile is guided by a transport unit (1) in a driving direction. The scanner is used to preselect the scanning plane in angular positions. Two 3D images of a selected surrounding area are created under two various angles of the laser scanner. A relative position is determined from a comparison of a spatial position of an object in one 3D-image with a spatial position of the object in another 3D image.