Analysis of the geometrical features detectability constraints for laser-scanner sensor planning

This paper presents a planning approach or automatically synthesis of the viewpoint locations of a laser scanner that satisfy the detectability constaints of the geometrical feature of a given object. Dominant constraints taken into consideration were: the laser scanner field of view, depth of view, and the maximum permissible view angle. The approach is task driven and sensor model based. Information is given about the scanned object and its selected features, as well as about the optical characteristics of the sensor. Planning is presented as an optimization problem where the optimal laser scanner viewpoint must satisfy all the constraints simultaneously. The approach is demonstrated by scanning a 2D feature, and through planning an experiment in which robotic assembly of a car door is assisted by a laser scanner.