Automated extraction of laser streaks and range profiles

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Part 1: project profile

Project name

Automated extraction of laser streaks and range profiles

Project short description

The aim of this project is to develop an algorithm to extract laser traces produced on various surfaces by a laser scanner from images taken by a camera without IR filter


Start date: 2008/04/10

End date: 2008/06/25

People involved

Project head(s)

V. Caglioti - Vincenzo (dot) Caglioti (at) polimi (dot) it

Other Politecnico di Milano people

D. Migliore - migliore (at) elet (dot) polimi (dot) it

A. Giusti - Alessandro (dot) giusti (at) polimi (dot) it


Paolo Calloni - paolo (dot) calloni (at) mail (dot) polimi (dot) it

Laboratory work and risk analysis

Laboratory work for this project will be mainly performed at AIRLab/Lambrate. It will include significant amounts of mechanical work as well as of electrical and electronic activity. Potentially risky activities are the following:

  • Use of Lasers. Standard safety measures described in Safety norms will be followed.

Part 2: project description


  • Shoot two images with the camera and laser scanner fixed, one with the scanner on and one with the scanner off. Experiment different lighting conditions and camera settings.
  • Try subtracting the two images; the trace should be barely visible.
  • Equalize and smooth the resulting image
  • Return the trace as a set of rectilinear and curvilinear segments.

Instrumentation in use (returned 07/08)

  • Hokuyo Laser scanner URG-04LX
  • Unibrain digital camera + standard 42.5° lens