The development of a time of flight range imager for mobile robotics

Mobile robots are becoming increasingly prevalent in a large variety of applications. The introduction of robots into more complex environments necessitates the development of more advanced sensor systems to facilitate their successful implementation. This paper details the design and testing of a compact, configurable, indirect time of flight range imager with potential applications in mobile robotics. The paper then evaluates the range imager, particularly with regard to motion, and demonstrates some changes that can be made to improve the system´s response.