Laser Range Data: Experiments, Data Analysis, and Mathematical Models

1
Laser Range Data Experiments, Data Analysis, and
Mathematical Models

• Ann Lee, Jinggang Huang, David Mumford
• Dept. of Applied Math
• Brown University

2
The Range Finder

• Riegl LMS-Z210

Consists of an electro-optical rangefinder
module, and a two-axis scanning mechanism
3
Rangefinder Module

• Principle Time-of-flight measurement of short
  laser pulses in the near infrared region (900 nm)
• Measurement range 2-300 m
• Accuracy 2.5 cm
• Beam divergence 3 mrad (0.17 deg)

4
Scanner Mechanism

• Vertical scan
• Mechanism rotating mirror
• Range 40 deg (80 deg total)
• Horizontal scan
• Mechanism motor-driven head
• Range 340 deg total

5
Range Image Database
Goal To gather a variety of natural scenes with
clutter

• 197 range images total
• Woods (54)
• Residential (69)
• Interior (49)
• Others (25)
• Each image contains 444-by-1440 measurements,
  with an angular sep. of 0.18 deg. Field of view
  of 80 deg vertically, and 259 deg horizontally