Techniques for real-time generation of range images

Range sensors based on optical triangulation and time-of-flight techniques are reviewed to determine, from first principles and sensor parameters, what actually limits performance, and how performance can be improved. Laser time-of-flight range sensors are limited by the photon nature of light, but might be able to produce range images at video rate (thirty 500×500 pixel images/s). Two triangulation techniques appear to be able to generate five to ten range images per second using currently available equipment, and perhaps 30 images/s. Several sensors generate registered range and intensity images which can be processed in combination using standard equipment to extract 3D features in real time