Accuracy limitations of laser-based ranging techniques in robotic applications

Some general performance aspects of continuous wave (CW)-tone modulated and frequency-modulated-continuous wave (FM-CW) coherent laser radar systems are given. An analysis of each of these techniques that includes the effects of laser phase and amplitude noise on the ability of the systems to perform their ranging function is given. It is shown that the performance of these techniques is affected in different ways by inherent laser characteristics, and previously published comparisons of the two techniques should be modified to reflect this more realistic analysis. An overall survey of laser ranging is given to place the CW and FM-CW techniques into perspective