High accuracy 3D surface information is required for many construction robotics tasks such as automated cement polishing or robotic plaster spraying. However, consumer-grade depth cameras currently found in the market are not accurate enough for these tasks where millimeter (mm)-level accuracy is required. 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. We compared SL Sensor to two commercial depth cameras - the Azure Kinect and RealSense L515. Experiments showed that the SL Sensor surpasses the two devices in both precision and accuracy. Furthermore, to demonstrate SL Sensor's ability to be a structured light sensing research platform for robotic applications, we developed a motion compensation strategy that allows the SL Sensor to operate during linear motion when traditional PSP methods only work when the sensor is static. Field experiments show that the SL Sensor is able produce highly detailed reconstructions of spray plastered surfaces. The software and a sample hardware build of the SL Sensor are made open-source with the objective to make structured light sensing more accessible to the construction robotics community. All documentation and code is available at https://github.com/ethz-asl/sl_sensor/ .

翻译：许多建筑机器人任务,如自动水泥抛光或机器人石膏喷洒等,都需要高精度 3D 表面信息,许多建筑机器人任务,如自动水泥抛光或机器人石膏喷洒等,都需要高精度 3D 表面信息。然而,目前市场上发现的消费者级深度摄像头不够准确,不足以完成需要毫米(mm)级精确度的那些任务。我们提供了SL传感器,这是一个结构化的光感应解决方案,它能够借助于分级转换仪(PSP)的编码技术,在5Hz产生高真真度云。我们将SL传感器比对两个商业深度摄像头——Azure Kinect和RealSense L515。 实验显示,SL传感器在精确性和准确性两方面都超越了这两个装置。此外,为了展示SL传感器作为机械应用结构化的轻感测研究平台的能力,我们开发了一个运动补偿战略,使SL传感器能够在5HZ进行线性运动期间使用传统的PSP方法,只有在传感器是静止的时才能工作。实地实验显示,SL传感器能够对喷雾表面进行非常详细的重建。SLsens/Sensor的软件和Sensor的样品建模/s社区可以进入。