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Experiments showed that the SL Sensor surpasses the two devices in both precision and accuracy. We compared SL Sensor to two commercial depth cameras - the Azure Kinect and RealSense L515. We present SL Sensor, a structured light sensing solution capable of producing high fidelity point clouds at 5Hz by leveraging on phase shifting profilometry (PSP) codification techniques. However, consumer-grade depth cameras currently found in the market are not accurate enough for these tasks where millimeter (mm)-level accuracy is required. High accuracy 3D surface information is required for many construction robotics tasks such as automated cement polishing or robotic plaster spraying. All documentation and code is available at Structured light sensing more accessible to the construction roboticsĬommunity. The software and a sample hardwareīuild of the SL Sensor are made open-source with the objective to make Reconstructions of spray plastered surfaces. FieldĮxperiments show that the SL Sensor is able produce highly detailed

When traditional PSP methods only work when the sensor is static.

Light sensing research platform for robotic applications, we developed a motionĬompensation strategy that allows the SL Sensor to operate during linear motion Furthermore, to demonstrate SL Sensor's ability to be a structured Showed that the SL Sensor surpasses the two devices in both precision andĪccuracy. We compared SL Sensor to twoĬommercial depth cameras - the Azure Kinect and RealSense L515. Profilometry (PSP) codification techniques. Producing high fidelity point clouds at 5Hz by leveraging on phase shifting

We present SL Sensor, a structured light sensing solution capable of However, consumer-grade depth cameras currently found in the market are notĪccurate enough for these tasks where millimeter (mm)-level accuracy is

Robotics tasks such as automated cement polishing or robotic plaster spraying. High accuracy 3D surface information is required for many construction