Environment exploration using an active vision sensor

An omnidirectional range sensor is reported. This active vision sensor combines a CCD camera and a laser diode. We use two methods to obtain the depth of the scene: a calibration method and a least square method. We describe the prototype we made. Experimental results are presented. A comparative test shows that this sensor seems to be as accurate as a laser telemeter but less sensitive to nonalignment. Its results are better than an ultrasonic sensor. Finally, we compare three segmentation algorithms and their results on the set of points given by the sensor