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Improvement of sensor accuracy in the case of a variable surface reflectance gradient for active laser range finders

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6 Author(s)
Khali, H. ; Fac. of Comput. Sci. & Comput. Eng., Ajman Univ. of Sci. & Technol., United Arab Emirates ; Savaria, Y. ; Houle, J.-L. ; Rioux, M.
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In active laser range finders, the computation of the (x, y, z) coordinates of each point of a scene can be performed using the detected centroid p~ of the image spot on the sensor. When the reflectance of the scene under analysis is uniform, the intensity profile of the image spot is a Gaussian and its centroid is correctly detected assuming an accurate peak position detector. However, when a change of reflectance occurs on the scene, the intensity profile of the image spot is no longer Gaussian. This change introduces a deviation Δp on the detected centroid p~, which will lead to erroneous (x, y, z) coordinates. This paper presents two heuristic models to improve the sensor accuracy in the case of a variable surface reflectance gradient. Simulation results are presented to show the quality of the correction and the resulting accuracy.

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Instrumentation and Measurement, IEEE Transactions on  (Volume:52 ,  Issue: 6 )