A two dimensional laser rangefinder for robot vision and autonomy

The authors have designed a double modulation laser telemeter in their laboratory. The performance achieved makes this telemeter a true instrumentation device (relative precision 0.5×10^-4), with reasonable dimensions and a high measurement rate ability (maximum 50 kHz). Its coaxial design makes scanning an easier task than for triangulation type devices. They report the performances obtained with the telemeter as well as those obtained by the scanning system. They point out the fact that the light power returned is very important for target recognition, and the need for specific processing tools for range data exploitation with some basic primitives implemented is analysed