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The International Journal of Robotics Research
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Imaging Ladar for 3-D Surveying and CAD Modeling of Real-World Environments

Dirk Langer

Z+F USA, Inc., 714 Maryland Ave., #3, Pittsburgh, PA15232, USAlanger{at}zf-usa.com

Markus Mettenleiter

Franz Härtl

Christoph Fröhlich

Zoller + Fröhlich (Z+F) GmbH, Simoniusstr. 22, D-88239 Wangen, Germanyinfo{at}zofre.de

To establish mobile robot operations and to realize survey and inspection tasks, robust and precise measurements of the geometry of the 3-D environment is a required basic sensor technology. For visual inspection, surface classification, and documentation purposes, however, additional information concerning reflectance of measured objects is necessary. High-speed acquisition of both geometric and visual information is achieved by the described active ladar, developed by Zoller and Fröhlich (Z+F). In contrast to other range-sensing devices, the Z+F system is designed for high-speed and high-performance operation in real indoor and outdoor environments, emitting a minimum of near-infrared laser energy. It integrates a single-point laser measurement system and a mechanical deflection system for 3-D environmental measurements. Experimental results are reported from surface inspections in tunnels, the generation of 3-D CAD models of a work cell in an automotive manufacturing plant, the modeling of free-form surfaces such as historic sculptures, and applications in mobile robot navigation.

Key Words: ladar • laser scanning • surveying • 3-D models • laser images

The International Journal of Robotics Research, Vol. 19, No. 11, 1075-1088 (2000)
DOI: 10.1177/02783640022067986
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