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

Laser Range Data: Experiments, Data Analysis, and Mathematical Models. Ann Lee, Jinggang Huang, David Mumford Dept. of Applied Math Brown University. The Range Finder. Riegl LMS-Z210. Consists of an electro-optical rangefinder module, and a two-axis scanning mechanism. Rangefinder Module.

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

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  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

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