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Laser Range Data Analysis for Mathematical Models of Riegl LMS-Z210

This study presents experiments, data analysis, and mathematical models utilizing the Riegl LMS-Z210 laser range finder. The system consists of a rangefinder module and a two-axis scanning mechanism, enabling precise range measurements in various scenarios. The dataset includes 197 range images capturing diverse natural scenes for advanced analysis. From woodland to residential settings, this research provides insights into laser scanning technology and its applications.

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Laser Range Data Analysis for Mathematical Models of Riegl LMS-Z210

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  1. Laser Range Data: Experiments, Data Analysis, and Mathematical Models Ann Lee, Jinggang Huang, David Mumford Dept. of Applied Math Brown University

  2. The Range Finder • Riegl LMS-Z210 Consists of an electro-optical rangefinder module, and a two-axis scanning mechanism

  3. Rangefinder Module • Principle: Time-of-flight measurement of short laser pulses in the near infrared region (900 nm) • Measurement range: 2-300 m • Accuracy: ± 2.5 cm • Beam divergence: 3 mrad (0.17 deg)

  4. Scanner Mechanism • Vertical scan • Mechanism: rotating mirror • Range: ±40 deg (80 deg total) • Horizontal scan • Mechanism: motor-driven head • Range: 340 deg total

  5. Range Image Database Goal: To gather a variety of natural scenes with clutter • 197 range images total: • Woods (54) • Residential (69) • Interior (49) • Others (25) • Each image contains 444-by-1440 measurements, with an angular sep. of 0.18 deg. Field of view of 80 deg vertically, and 259 deg horizontally

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