Segmentation algorithm of the infrared laser beam reflection in noisy environments. Characterization and modeling for its application in mobiles guidance

This work deals with the reconstruction and detection of a laser beam mounted on a mobile platform. Special care has been taken in the capture of the laser beam in indoor environments. An analysis of the power requirement of the laser diode was carried out for safety reasons. An algorithm capable of segmenting the laser stripe is presented. The applied strategy is described step by step, using computer vision techniques. This algorithm, in addition to treat complex scenes with different light levels and objects with distinct infrared absorption, solves the problem that involve moving objects, as well as taking into account the displacement of the robot over which the system is mounted. Finally, it is shown that the whole structure and experimental results obtained with the mapping to spatial coordinates, once the sensor system is calibrated, give a precise view of the mobile surroundings