Terrain following and mapping of arbitrary surfaces using high-        precision proximity data

James E. Baker

doi:10.1117/12.133328

1 May 1993 Terrain following and mapping of arbitrary surfaces using high-precision proximity data

James E. Baker

Author Affiliations +

Optical Engineering, Vol. 32, Issue 5, (May 1993). https://doi.org/10.1117/12.133328

Abstract

Many robotic operations, e.g. , mapping, scanning, feature following, etc. , require accurate surface following of arbitrary targets. A versatile surface-following and mapping system using a very high precision "eye-in-hand" proximity sensor, designed to provide hardware, software, and application independence, modular development, and upward expandability, is presented. These goals are met by a full a priori specification of the hardware and software interfaces; a modular system architecture; and a hierarchical surface-data analysis method, permitting application-specific tuning at each conceptual level of topological abstraction. This surface-following system was fully designed and implemented independent of any specific robotic host and then successfully integrated with and demonstrated on two very dissimilar real-time robotic systems. Presented in detail are the hardware and software architectures, the mapping and terrain forecasting algorithms, and the applications' environments and task requirements.

Citation Download Citation

James E. Baker "Terrain following and mapping of arbitrary surfaces using high-precision proximity data," Optical Engineering 32(5), (1 May 1993). https://doi.org/10.1117/12.133328

Published: 1 May 1993

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available