{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T09:55:24Z","timestamp":1777715724228,"version":"3.51.4"},"reference-count":18,"publisher":"SAGE Publications","issue":"11","license":[{"start":{"date-parts":[[2000,11,1]],"date-time":"2000-11-01T00:00:00Z","timestamp":973036800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2000,11]]},"abstract":"<jats:p>To establish mobile robot operations and to realize survey and inspection tasks, robust and precise measurements of the geometry of the 3-D environment is a required basic sensor technology. For visual inspection, surface classification, and documentation purposes, however, additional information concerning reflectance of measured objects is necessary. High-speed acquisition of both geometric and visual information is achieved by the described active ladar, developed by Zoller and Fr\u00f6hlich (Z+F). In contrast to other range-sensing devices, the Z+F system is designed for high-speed and high-performance operation in real indoor and outdoor environments, emitting a minimum of near-infrared laser energy. It integrates a single-point laser measurement system and a mechanical deflection system for 3-D environmental measurements. Experimental results are reported from surface inspections in tunnels, the generation of 3-D CAD models of a work cell in an automotive manufacturing plant, the modeling of free-form surfaces such as historic sculptures, and applications in mobile robot navigation.<\/jats:p>","DOI":"10.1177\/02783640022067986","type":"journal-article","created":{"date-parts":[[2003,7,19]],"date-time":"2003-07-19T02:59:46Z","timestamp":1058583586000},"page":"1075-1088","source":"Crossref","is-referenced-by-count":33,"title":["Imaging Ladar for 3-D Surveying and CAD Modeling of Real-World Environments"],"prefix":"10.1177","volume":"19","author":[{"given":"Dirk","family":"Langer","sequence":"first","affiliation":[{"name":"Z+F USA, Inc., 714 Maryland Ave., #3, Pittsburgh, PA15232, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Markus","family":"Mettenleiter","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Franz","family":"H\u00e4rtl","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Christoph","family":"Fr\u00f6hlich","sequence":"additional","affiliation":[{"name":"Zoller + Fr\u00f6hlich (Z+F) GmbH, Simoniusstr. 22, D-88239 Wangen, Germany"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2000,11,1]]},"reference":[{"key":"atypb1","unstructured":"Allen, P., and Stamos, I. 2000. 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Range and Reflectance Processing Workshop, Ann Arbor, MI."},{"key":"atypb6","unstructured":"Fr\u00f6hlich, C. 1996.\n                      Aktive Erzeugung korrespondierender Tiefen-und Reflektivit\u00e4tsbilder und ihre Nutzung zur Umgebungserfassung\n                      . Dissertation, Laboratory of Automation and Control Engineering, Technical University Munich, Pro Universitate Verlag."},{"key":"atypb7","unstructured":"Fr\u00f6hlich, C., Mettenleiter, M., Schmidt, G. 1994. Laser range scanner supporting 3-D range and 2-D gray level images for tunnel surface inspection . ISPRS Commission II Symposium, Ottawa, Ontario, pp. 471\u2013480 ."},{"key":"atypb8","doi-asserted-by":"crossref","unstructured":"Hancock, J., Langer, D., Hebert, M., Sullivan, R., Ingmarson, D., Hoffmann, E., Mettenleiter, M., Fr\u00f6hlich, C. 1998. Active laser radar for high performance measurements . Proc. 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Ph.D. thesis, The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA."},{"key":"atypb13","doi-asserted-by":"crossref","unstructured":"Kanade, T., Yoshida, A., Oda, K., Kano, H., and Tanaka, M. 1996. A stereo machine for video-rate dense depth mapping and its new applications . Proc. 15th Computer Vision and Pattern Recognition Conference, San Francisco, pp. 196\u2013202 .","DOI":"10.1109\/CVPR.1996.517074"},{"key":"atypb14","doi-asserted-by":"crossref","unstructured":"Langer, D., Rosenblatt, J. K., Hebert, M. 1994. An integrated system for autonomous off-road navigation . Proc. IEEE International Conference on Robotics and Automation, San Diego, CA, May, pp. 414\u2013419 .","DOI":"10.1109\/ROBOT.1994.351261"},{"key":"atypb15","unstructured":"Odetics. 1989. 3-D Laser Imaging System. Anaheim, CA: Author ."},{"key":"atypb16","unstructured":"Perceptron. 1991 (April 9).\n                      LIDAR Scanning System\n                      . U.S. Patent No. 5,006,721. Farmington Hills, MI."},{"key":"atypb17","unstructured":"Pfeffer, L. E. 1999. A mobile sensor platform for construction metrology and automation: Design and initial results . Proc. International Conference on Field and Service Robotics, Pittsburgh, PA, August, pp. 310\u2013315 ."},{"key":"atypb18","doi-asserted-by":"crossref","unstructured":"Rioux, M. 2000. Beyond range sensing: XYZ-RGB digitizing and modeling . Proc. 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