Handy rangefinder for active robot vision

Author

Hattori, Kazuyuki ; Sato, Yukio

Author_Institution

Dept. of Electr. & Comput. Eng., Nagoya Inst. of Technol., Japan

Volume

2

fYear

1995

fDate

21-27 May 1995

Firstpage

1423

Abstract

A compact and high-speed rangefinding system which is applicable to active robot vision is described. The principle of depth measurement is based on the space encoding method. Spatial coded patterns of light are generated by a semiconductor laser. A slit-ray of the laser is scanned by a rotating polygonal mirror and switched according to temporal switching patterns. Each pattern of light is generated, and its reflected image is taken by a CCD camera, in one image frame with no lag time. A 512×256 range map is obtained continuously every 0.2 seconds

Keywords

CCD image sensors; active vision; distance measurement; encoding; robot vision; semiconductor lasers; 0.2 s; 256 pixel; 512 pixel; 65536 pixel; CCD camera; active robot vision; depth measurement; rangefinder; rotating polygonal mirror; semiconductor laser; slit-ray; space encoding method; spatial coded light patterns; structured light; temporal switching patterns; Cameras; Charge coupled devices; Charge-coupled image sensors; Encoding; Lighting; Mirrors; Orbital robotics; Robot vision systems; Semiconductor lasers; Space technology;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on

Conference_Location

Nagoya

ISSN

1050-4729

Print_ISBN

0-7803-1965-6

Type

conf

DOI

10.1109/ROBOT.1995.525477

Filename

525477