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

• 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)

Scanner Mechanism

• Vertical scan – Mechanism: rotating mirror– Range: ±40 deg (80 deg total)

• Horizontal scan– Mechanism: motor-driven head– Range: 340 deg total

Range Image Database

• 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

Goal: To gather a variety of natural scenes with clutter