Diseño y Construcción de un Robot Móvil que Permita la Obtención de una Nube de Puntos del Escaneo de Habitaciones Utilizando Láser y Webcams

Translated title of the contribution: Design and Construction of a Mobile Robot that Allows Obtaining a Point Cloud of Room Scanning Using Lasers and Webcams

Juan Carlos Musuña Toapanta, Byron Ricardo Zapata Chancusig, Luis German Oñate Cadena, Gonzalo Bayardo Campuzano Nieto

Research output: Contribution to journalArticle

Abstract

We have built some hardware and developed an algorithm in order to obtain a cloud of X, Y , Z coordinates representing a set of images captured inside a room. The images are captured with artificial vision techniques, like the stereo vision theory, based on laser projection, data acquisition and image preprocessing, using bifocal scanning and webcams. In order to obtain the X, Y coordinates over a laser projection plane; the images were digitalized using digital filters. Additionally, in order to obtain the Z coordinates,the stereoscopic formula was used for depth calculation. The Z coordinate represents the distance between the cameras and the laser projected objects. The rooms and objects captured as 3D images using this technique are similar, with a small error margin, to the rooms where the scanning was applied.
Translated title of the contributionDesign and Construction of a Mobile Robot that Allows Obtaining a Point Cloud of Room Scanning Using Lasers and Webcams
Original languageSpanish (Ecuador)
Pages (from-to)53-61
Number of pages9
JournalIngenius
Volume11
Issue number11
StatePublished - 1 Jun 2014

Keywords

  • Bifocal system
  • Image preprocessing
  • Point cloud
  • Stereo vision

CACES Knowledge Areas

  • 116A Computer Science

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