Application and performance of laser speckle odometry applied to a mobile industrial robot

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dc.contributor.authorCharrett, Thomas O. H.
dc.contributor.authorGibson, Sam
dc.contributor.authorTatam, Ralph P.
dc.date.accessioned2023-10-25T08:33:21Z
dc.date.available2023-10-25T08:33:21Z
dc.date.issued2023-08-15
dc.description.abstractIn this paper we report the application of a laser speckle odometer to a mobile industrial robot in a typical factory floor environment. The suitability of typical floor surfaces and features is assessed in terms of the ability to form speckle patterns with sufficient signal to noise for correlation-based processing. All tested surfaces including concrete, rubber tile, dried paint and oil stains, and hazard tapes were found to be suitable. A comparison of the velocimetry sensor output to the industrial robot’s internal SLAM and wheel encoder data is presented with good agreement of < 0.3mm/s at tested speeds of up to 250mm/s. Finally, a comparison of speckle odometry to the robot’s internal SLAM based navigation will be presented using a laser tracker to provide ground-truth measurement data. Both techniques were found to perform similarly, with errors of up to 80mm when traversing a 16m square path of 4m sides. The laser speckle odometry was however found to perform significantly better over the initial sides of the path with a maximum error of < 10mm in comparison to < 47mm for the robot’s internal odometry.en_UK
dc.description.sponsorshipEngineering and Physical Sciences Research Council (EPSRC): EP/S01313X/1; EP/R513519/1en_UK
dc.identifier.citationCharrett TOH, Gibson SJ, Tatam RP. (2023) Application and performance of laser speckle odometry applied to a mobile industrial robot. In: SPIE Optical Metrology 2023: Optical Measurement Systems for Industrial Inspection XIII, 26-29 June 2023, Munich, Germany, 26-29 June 2023, Proceedings of SPIE, Volume 12618en_UK
dc.identifier.issn0277-786X
dc.identifier.urihttps://doi.org/10.1117/12.2673177
dc.identifier.urihttps://dspace.lib.cranfield.ac.uk/handle/1826/20440
dc.language.isoenen_UK
dc.publisherSPIEen_UK
dc.rightsAttribution 4.0 International*
dc.rights.urihttp://creativecommons.org/licenses/by/4.0/*
dc.titleApplication and performance of laser speckle odometry applied to a mobile industrial roboten_UK
dc.typeConference paperen_UK
dcterms.dateAccepted2023-06-07

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