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Zebedee: Design of a Spring-Mounted 3-D Range Sensor with Application to Mobile Mapping
Abstract
Three-dimensional perception is a key technology for many robotics applications, including obstacle detection, mapping, and localization. There exist a number of sensors and techniques for acquiring 3-D data, many of which have particular utility for various robotic tasks. We introduce a new design for a 3-D sensor system, constructed from a 2-D range scanner coupled with a passive linkage mechanism, such as a spring. By mounting the other end of the passive linkage mechanism to a moving body, disturbances resulting from accelerations and vibrations of the body propel the 2-D scanner in an irregular fashion, thereby extending the device's field of view outside of its standard scanning plane. The proposed 3-D sensor system is advantageous due to its mechanical simplicity, mobility, low weight, and relatively low cost. We analyze a particular implementation of the proposed device, which we call Zebedee, consisting of a 2-D time-of-flight laser range scanner rigidly coupled to an inertial measurement unit and mounted on a spring. The unique configuration of the sensor system motivates unconventional and specialized algorithms to be developed for data processing. As an example application, we describe a novel 3-D simultaneous localization and mapping solution in which Zebedee is mounted on a moving platform. Using a motion capture system, we have verified the positional accuracy of the sensor trajectory. The results demonstrate that the six-degree-of-freedom trajectory of a passive spring-mounted range sensor can be accurately estimated from laser range data and industrial-grade inertial measurements in real time and that a quality 3-D point cloud map can be generated concurrently using the same data.
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“Bosse et al. [21] extended the continuous 3D scan-matching formulation from [19] to a large-scale SLAM application.”
From Past, Present, and Future of Simultaneous Localization and Mapping: Toward the Robust-Perception Age (2016) · cites this paper as [21]
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Metadata
- Authors
- Bosse, M., Zlot, R., & Flick, P.
- Affiliations
- Commonwealth Scientific and Industrial Research Organisation (AU)
- Venue
- IEEE Transactions on Robotics
- Published
- 2012-10
- Volume
- 28
- Issue
- 5
- Pages
- 1104-1119
- ISSN
- 1552-3098 (ISSN-L)
- 1941-0468
- OpenAlex
- W2054804188
- Cited by
- 399
- References
- 17
- Citations by year
- 2026: 5 · 2025: 14 · 2024: 18 · 2023: 21 · 2022: 31 · 2021: 39 · 2020: 34 · 2019: 43 · 2018: 41 · 2017: 32 · 2016: 39 · 2015: 40 · 2014: 26 · 2013: 16
- FWCI
- 44.13
- Type
- journal article
- Language
- en
- Open access
- closed
- Locations
- IEEE Transactions on Robotics (publishedVersion)
- Funders
- Commonwealth Scientific and Industrial Research Organisation
- Topics
- Physical Sciences › Computer Science › Computer Vision and Pattern Recognition › Robotics and Sensor-Based Localization
- Physical Sciences › Earth and Planetary Sciences › Geology › 3D Surveying and Cultural Heritage
- Physical Sciences › Engineering › Aerospace Engineering › Inertial Sensor and Navigation
- Keywords
- inertial measurement unit, mobile mapping, SLAM, 3D point clouds, low-cost sensor design
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