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In this paper, we show that a 3D laser scanner tracking system can be efficiently used in a projective mode similar to photogrammetry-based methods. The best of both laser ranging and photogrammetry can be combined to increase the accuracy and reliability of a 6 DOF pose estimation/tracking system. Geometrical tracking and object pose evaluation using the laser scanner projective coordinate system becomes equivalent to a video camera/photogrammetry based approach with the added feature of measuring the focus distance of the image point and being able to track geometrical features as well as targets. Tracking and ranging from either the laser scanner XYZ coordinates or the photogrammetry projective model can be used., 5th Conference on Optical 3-D Measurement Techniques, October 1-3, 2001., Vienna, Austria

This paper presents our activities on smart VLSI opto-sensors for 3D vision. A description of the integrated devices jointly developed for industrial and scientific applications is given. All the sensors presented here have been fabricated using standard CMOS technology that allows the monolithic integration of photo-sensors, together with readout circuits, and digital signal processors., The 18th IEEE Instrumentation and Measurement Technology Conference. Rediscovering Measurement in the Age of Informatics, 21-23 May 2001, Budapest, Hungary, Series: IEEE Instrumentation and Measurement Technology Conference Proceedings

Publication in the conference proceedings of EUSIPCO, Rhodes, Greece, 1998

This paper describes recent improvements to the Biris optical range sensor and the application of the technology for the estimation of volume with emphasis on wood volume measurement. A description of the range sensor and the algorithms used to calculate the volume from range data are given. Two techniques are presented: 1) evaluation of volume using model fit, and, 2) evaluation of volume directly from raw range data.

This report describes the method and rationale that was used to interface the BIRIS 3-D laser range sensor to a multiprocessor system that runs under the Harmony realtime operating system. The report is primarily concerned with a description of a "server" that presents to the application programmer a clear abstraction of the BIRIS system so that control of the device and access to its data are uncomplicated. The system described here is a component of a mobile robot system being developed by the Autonomous Systems Laboratory at NRC.