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Robotics and Mechatronics Center
Institute of Robotics and Mechatronics
Institute of System Dynamics and Control
Institute for Optical Sensor Systems
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The following Sensors are integrated in the
The DLR Multisensory 3D-Modeller (3DMo).
The DLR Laser Range Scanner is a device for the exploration of three-dimensional environments. It uses the principle of laser triangulation, as shown in Figure 1. A laser beam is send from a source and will be dispersed diffusely on the scanned object's surface. Some of the reflected rays strike a lens which focuses the light onto a sensitive area of a position sensitive detector (PSD).
Stereo Camera System
The 3D-Modeller is equipped with a stereo camera system adding new and exciting capabilities: Stereo depth sensor
The fundamental principle of the range sensing by optical triangulation is illustrated in the figure below. A focused plane of laser light illuminates a stripe when colliding with the surface of an object. A CCD camera (in our case without optical filtering) records the reflection.
This article shows the previous multisensory 3D modeller. It integrates the laser-range scanner, a texture sensor (calibrated CCD miniature head camera), a laser-stripe sensor, using another camera in combination with a line laser module (opening angle 60°, 635nm wavelength) and a stereo vision sensor.
The DLR Multisensory 3D-Modeller (3DMo)
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