Cited by 399Robotics and Sensor-Based Localization3D Surveying and Cultural HeritageInertial Sensor and Navigation

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Zebedee: Design of a Spring-Mounted 3-D Range Sensor with Application to Mobile Mapping

Bosse, M., Zlot, R., Flick, P.·2012·IEEE Transactions on Robotics

DOI 10.1109/tro.2012.2200990

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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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Authors: Bosse, M., Zlot, R., & Flick, P.
Affiliations: Commonwealth Scientific and Industrial Research Organisation (AU)
Venue: IEEE Transactions on Robotics
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Published: 2012-10
Volume: 28
Issue: 5
Pages: 1104-1119
ISSN: 1552-3098 (ISSN-L)
1941-0468
DOI: 10.1109/tro.2012.2200990
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
Licence: ieeexplore.ieee.org/Xplorehelp/downloads/license-information/IEEE.html (vor)
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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Zebedee: Design of a Spring-Mounted 3-D Range Sensor with Application to Mobile Mapping

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