Carnegie, D.A., McClymont, J.R.K., Jongenelen, A.P.P., Drayton, B., Dorrington, A.A. & Payne, A.A. (2011). Design and construction of a configurable full-field range imaging system for mobile robotic applications. In S.C. Mukhopadhyay et al. (Eds.), New Developments and Applications in Sensing Technology, LNEE 83 (pp. 133-155). Berlin, Germany: Springer-Verlag Berlin Heidelberg.
Permanent Research Commons link: http://hdl.handle.net/10289/5137
Mobile robotic devices rely critically on extrospection sensors to determine the range to objects in the robot’s operating environment. This provides the robot with the ability both to navigate safely around obstacles and to map its environment and hence facilitate path planning and navigation. There is a requirement for a full-field range imaging system that can determine the range to any obstacle in a camera lens’ field of view accurately and in real-time. This paper details the development of a portable full-field ranging system whose bench-top version has demonstrated sub-millimetre precision. However, this precision required non-real-time acquisition rates and expensive hardware. By iterative replacement of components, a portable, modular and inexpensive version of this full-field ranger has been constructed, capable of real-time operation with some (user-defined) trade-off with precision.
This is an author's version of an article published in LNEE 83. The original publication is available at www.springerlink.com.