外文翻譯--低成本激光距離傳感器（節(jié)選）

1、<p>　　980單詞，4500英文字符，1590漢字</p><p>　　出處：Konolige K, Augenbraun J, Donaldson N, et al. A low-cost laser distance sensor[C]// IEEE International Conference on Robotics and Automation. IEEE, 2008:3002-3008

2、. </p><p>　　A Low-Cost Laser Distance Sensor</p><p>　　Kurt Konolige, Joseph Augenbraun, Nick Donaldson, Charles Fiebig, and Pankaj Shah</p><p>　　Abstract – Many indoor r

3、obotics systems use laser rangefinders as their primary sensor for mapping, localization, and obstacle avoidance. The cost and power of such systems is a major roadblock to the deployment of low- cost, efficient consumer

4、 robot platforms for home use. In this paper, we describe a compact, planar laser distance sensor (LDS) that has capabilities comparable to current laser scanners: 3 cm accuracy out to 6 m, 10 Hz acquisition, and 1 deg

5、ree resolution over a full 360 degre</p><p>　　INTRODUCTION</p><p>　　One of the most common tasks for mobile robots is to make a map and navigate in an environment. To do so, the robot needs to

6、 sense its environment in an efficient way, looking out to some distance to find obstacles and build a map that is useful for performing tasks such as vacuuming or delivery.</p><p>　　While there are many sen

7、sors that could be used, laser distance sensors are currently the standard sensor in indoor and outdoor mobile robots. The main reason is the utility of the data: an LDS returns distance to objects in its field of view,

8、 unlike (for example) vision sensors, which need complicated and error-prone processing before distances are measured. And unlike other distance sensors such as sonars or IR sensors, an LDS is capable of fine angular and

9、 distance resolution, realtime behav</p><p>　　While LDS devices are ubiquitous in research robotics, their high cost has kept them from appearing in consumer robotics such as robot floor cleaners. The Electr

10、olux Trilobite, one of the only cleaners to make a map, relies on sonar sensors [13].2 The barrier to using LDS technology is the cost. The two most common devices, the SICK LMS 200 [1] and the Hokuyo URG-04LX [1], cos

11、t an order of magnitude more than the simplest robot cleaners.</p><p>　　In this paper we describe a compact, low-cost LDS that is as capable as standard LDS devices, yet is being manufactured for a fract

12、ion of their cost: the Revo LDS. Figure I-1 shows the prototype Revo with its cover removed. It has the following characteristics:</p><p>　　Eye-safe (Class I or II).</p><p>　　Works under standa

13、rd indoor lighting conditions, and some outdoor conditions.</p><p>　　Measures a full 360 degree planar scan.</p><p>　　Has a range from 0.2m to 6m.</p><p>　　High resolution: range er

14、ror < 3 cm at 6 m, angular resolution of 1 degree.</p><p>　　4000 readings per second (scans up to 10 Hz)</p><p>　　Small size, low power (< 2W)</p><p>　　Standard, commercially-

15、available components.</p><p>　　Low cost: $30 cost to build.</p><p>　　These characteristics make the Revo suitable for consumer products, and open the way for high-performance, low- cost mobile r

16、obots. Although all of the Revo technologies have been used in other devices, to date no-one has realized that they could be combined to make a low-cost, high-performance sensor. Achieving the above criteria required inn

17、ovations in design, algorithms, and integration. The key elements of the Revo are –</p><p>　　A compact, rigid point-beam triangulation module incorporating laser, imager, and electronics. With a low-cost C

18、MOS imager and a DSP for subpixel interpolation, we get good range resolution out to 6 m</p><p>　　Figure I-1 Revo LDS. Approximate width is 10cm. Round carrier spins, holds optical module with laser dot m

19、odule, imager, and lens.</p><p>　　with a 5 cm baseline, at a 4 KHz rate. The key insight to the Revo is that high precision is possible with a small baseline, because of the digital image sensor.</p>

20、<p>　　Module rotation to achieve a 360 FOV. Rather than using mirrors to manipulate the beam, the Revo revolves the optical assembly to point the beam around a full circle.</p><p>　　No other current dev

21、ice satisfies our requirements. We briefly review several relevant competing LDS technologies that use triangulation.</p><p>　　Structured line devices. These devices use a light stripe laser and offset camer

22、a to determine range to a set of points. Because the laser energy is spread over a line, it is difficult to achieve accurate range, especially in the presence of ambient light, or with darker objects. For example, the sy

23、stem of [7] has a maximum 3m range with a 105 degree FOV, and needs a 50 cm baseline to achieve good range precision.</p><p>　　Point scan devices. Many devices exist for 3D scanning of small objects in fine

24、 detail ([3], Section 2.1). These typically use a scanning mirror to direct a point laser beam and redirect the laser return to an optical receiver. Such devices cannot be miniaturized, and their cost and mechanical fra

25、gility will remain high.</p><p>　　Point modules. Like the Revo device, there exist single-point range modules that could potentially be rotated to achieve a large FOV. Typical are the Sharp IR sensors [9], w

26、hich use a position-sensitive device (PSD). These devices measure the centroid of all light impinging on their surface. Although modulation techniques can be used to offset some of the effects of ambient light, PSDs do n

27、ot perform well unless the laser spot has a very strong reflection, limiting their use to ranges of a meter</p><p>　　In the rest of this paper, we discuss aspects of the Revo sensor: the modularization of th

28、e point sensor, the scanning mechanism, and synchronization. .</p><p>　　SINGLE-POINT DISTANCE MODULE</p><p>　　The Revo relies on an innovative laser point sensor module that works on the triang

29、ulation principle, using a laser point beam and a digital image sensor, separated by a small baseline. The module incorporates laser, sensor, optics, and computation in a small, rigid package (Figure II-5). It is slightl

30、y larger than current IR distance sensors (e.g., the Sharp IR devices [9]), but has much better accuracy and speed.</p><p>　　低成本激光距離傳感器</p><p>　　Kurt Konolige, Joseph Augenbraun, Nick Donaldson,

31、 Charles Fiebig,和 Pankaj Shah</p><p>　　摘要 - 許多室內(nèi)機器人系統(tǒng)使用激光測距儀作為其映射，定位和避障的主要傳感器。 這種系統(tǒng)的成本和功率是部署用于家庭使用的低成本，高效的消費者機器人平臺的主要障礙。 在本文中，我們描述了一種緊湊的平面激光距離傳感器（LDS），其具有與當(dāng)前激光掃描器相當(dāng)?shù)哪芰Γ涸?m，10Hz采集下3cm的精度，以及在全360度掃描上的1度的分辨率。 使

32、用COTS電子設(shè)備和定制機械工具，該設(shè)備的制造成本低于30美元。</p><p><b>　　I.引言</b></p><p>　　移動機器人最常見的任務(wù)之一是在環(huán)境中制作地圖和導(dǎo)航。 為此，機器人需要以有效的方式感測其環(huán)境，尋找一些距離以尋找障礙物并構(gòu)建對于執(zhí)行諸如抽真空或交給的任務(wù)有用的地圖。</p><p>　　雖然有許多傳感器可以使用，

33、激光距離傳感器是目前室內(nèi)和戶外移動機器人的標(biāo)準(zhǔn)傳感器。主要原因是數(shù)據(jù)的效用：LDS返回到其視野中的對象的距離，不同于（例如）視覺傳感器，其在測量距離之前需要復(fù)雜且易出錯的處理。與諸如聲納或IR傳感器的其它距離傳感器不同，LDS能夠精細(xì)的角度和距離分辨率，實時行為（每秒數(shù)百或數(shù)千點測量），以及低的假陽性和陰性率。存在使用LDS掃描的映射和定位的有效算法[5] [8]。雖然LDS設(shè)備在研究機器人中是普遍存在的，但是它們的高成本使它們不能出現(xiàn)

34、在消費者機器人例如機器人地板清潔器中。 Electrolux Trilobite是制作地圖的唯一清潔工具之一，它依賴于聲納傳感器[13] .2使用LDS技術(shù)的障礙是成本。兩個最常見的設(shè)備，SICK LMS 200 [1]和Hokuyo URG-04LX [1]，比最簡單的機器人成本高一個數(shù)量級。</p><p>　　1. 三星VC-RP30W顯然是一張地圖，但沒有關(guān)于它如何做的細(xì)節(jié)。在本文中，我們描述了一種緊湊，

35、低成本的LDS，其能力與標(biāo)準(zhǔn)LDS器件一樣，但是其制造成本僅為其一小部分成本：Revo LDS。圖I-1顯示了原型Revo，其蓋子被移除。它有以下特點：眼睛安全（I級或II級）。</p><p>　　2.在標(biāo)準(zhǔn)室內(nèi)照明條件下，以及一些室外條件下。</p><p>　　3.測量完整的360度平面掃描。</p><p>　　4.范圍從0.2m到6m。</p>

36、<p>　　5.高分辨率：范圍誤差<3 cm，6 m，角分辨率為1度。</p><p>　　6.4000讀數(shù)/秒（掃描高達(dá)10 Hz）</p><p>　　7.小尺寸，低功率（<2W）</p><p>　　8.標(biāo)準(zhǔn)，可商購的組件。</p><p>　　9.低成本：$ 30成本。</p><p>

37、;　　這些特性使得Revo適合消費產(chǎn)品，為高性能，低成本的移動機器人開辟了道路。雖然所有的Revo技術(shù)已經(jīng)在其他設(shè)備中使用，但迄今為止沒有人意識到他們可以組合成一個低成本，高性能的傳感器。實現(xiàn)上述標(biāo)準(zhǔn)需要設(shè)計，算法和集成方面的創(chuàng)新。 Revo的關(guān)鍵要素是 - </p><p>　　?緊湊，剛性的點光束三角測量模塊，包含激光器，成像器和電子元件。利用 低成本CMOS成像器和用于子像素插值的DSP，我們

38、得到了范圍分辨率高達(dá)6 m的良好 性能,以5KHz的基線，以4KHz的速率。對Revo的主要觀點是，由于數(shù)字圖像傳感器，使用小基線可實現(xiàn)高精度。</p><p>　　?模塊旋轉(zhuǎn)，實現(xiàn)360°FOV。而不是使用鏡子來操縱光束，Revo旋轉(zhuǎn)光學(xué)組件將光束指向一個完整的圓周。</p><p>　　沒有其他當(dāng)前設(shè)備滿足我們的要求。我們簡要回顧幾個使用三角測量的相關(guān)競爭LDS技術(shù)。<

39、;/p><p>　　結(jié)構(gòu)化線路設(shè)備。這些設(shè)備使用光條激光器和偏移相機來確定一組點的范圍。因為激光能量在線上傳播，所以難以實現(xiàn)精確的范圍，特別是在存在環(huán)境光的情況下或者在較暗的物體的情況下。例如，[7]的系統(tǒng)具有105度FOV的最大3m范圍，并且需要50cm基線以實現(xiàn)良好的測距精度。</p><p>　　點掃描設(shè)備。許多設(shè)備存在用于細(xì)小對象的3D掃描（[3]，第2.1節(jié)）。這些通常使用掃描鏡來引

40、導(dǎo)點激光束并將激光返回重定向到光接收器。這種裝置不能小型化，并且它們的成本和機械脆性將保持高。</p><p>　　點模塊。像Revo設(shè)備一樣，存在可能被旋轉(zhuǎn)以實現(xiàn)大FOV的單點范圍模塊。典型的是Sharp IR傳感器[9]，它使用位置敏感器件（PSD）。這些裝置測量撞擊在其表面上的所有光的質(zhì)心。雖然調(diào)制技術(shù)可以用于抵消環(huán)境光的一些影響，但是PSD不能很好地工作，除非激光光斑具有非常強的反射，將它們的使用限制在一

41、米或更小的范圍內(nèi)[10]。</p><p>　　在本文的其余部分，我們討論的Revo傳感器的方面：點傳感器的模塊化，掃描機制和同步。 。</p><p><b>　　II。單點距離模塊</b></p><p>　　Revo依靠一個創(chuàng)新的激光點傳感器模塊，其工作原理是三角測量原理，使用激光點光束和數(shù)字圖像傳感器，由一個小基線隔開。該模塊將激光，傳