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Delft University of Technology

1. van der Molen, Hessel (author). Development of a Low-Cost, Solid-State, Line-Laser Distance Sensor: An Integrated Approach.

Degree: 2017, Delft University of Technology

Many robotic systems rely on laser ranging sensors to navigate and map their environment. As robots are getting more advanced, smaller and cheaper, their sensors need to decrease in size and cost, while increasing their reliability and accuracy. Current laser-based sensors have difficulty to meet these properties. They are either large, expensive, contain moving parts or provide insufficient amounts of information. This thesis introduces an integrated approach for the development of an eye-safe, low-cost, solid-state, wide-angle line-laser distance sensor, tackling these challenges. A prototype is derived by constructing a generic, camera independent, triangulation model. The model, combined with a set of pre-defined requirements, is used to select hardware components and predict the sensor limits. A unified calibration step is proposed to estimate both camera intrinsics as well as misalignment errors with the same set of data. Additionally, a microsecond-accurate open loop synchronization system for laser activation and imager exposure is presented. Tests show that the prototyped sensor is able to measure distances up to 3 meters with an error of 4%. At 2 meter, the error is just under 2%. Additionally, the solid-state prototype has a field-of-view of 105 degrees, an angular resolution of 0.8 degrees, an update rate of 10Hz and an estimated cost of just below $35. Advisors/Committee Members: Jonker, Pieter (mentor), Verboom, J (mentor), Chandarr, A (mentor), Serdijn, Wouter (graduation committee), Langendoen, Koen (graduation committee), Hijzen, Toby (graduation committee), Delft University of Technology (degree granting institution).

Subjects/Keywords: Triangulation; Distance Measurement; Solid-State Sensor; Line-Laser; Modelling; Optimisation; Low-Cost; LiDAR

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6th Edition):

van der Molen, H. (. (2017). Development of a Low-Cost, Solid-State, Line-Laser Distance Sensor: An Integrated Approach. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:509d12ba-7224-4e24-adff-d15059422319

Chicago Manual of Style (16th Edition):

van der Molen, Hessel (author). “Development of a Low-Cost, Solid-State, Line-Laser Distance Sensor: An Integrated Approach.” 2017. Masters Thesis, Delft University of Technology. Accessed January 26, 2021. http://resolver.tudelft.nl/uuid:509d12ba-7224-4e24-adff-d15059422319.

MLA Handbook (7th Edition):

van der Molen, Hessel (author). “Development of a Low-Cost, Solid-State, Line-Laser Distance Sensor: An Integrated Approach.” 2017. Web. 26 Jan 2021.

Vancouver:

van der Molen H(. Development of a Low-Cost, Solid-State, Line-Laser Distance Sensor: An Integrated Approach. [Internet] [Masters thesis]. Delft University of Technology; 2017. [cited 2021 Jan 26]. Available from: http://resolver.tudelft.nl/uuid:509d12ba-7224-4e24-adff-d15059422319.

Council of Science Editors:

van der Molen H(. Development of a Low-Cost, Solid-State, Line-Laser Distance Sensor: An Integrated Approach. [Masters Thesis]. Delft University of Technology; 2017. Available from: http://resolver.tudelft.nl/uuid:509d12ba-7224-4e24-adff-d15059422319

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