Distance inspection for robot vision and 3D imagimg using defocusing pixel dither

摘要

The object distance is the important parameter for image recognition and robot 3D view. This paper presents a novel method of pixel dither passive ranging. We derives the mathematical model of ranging, obtains the ranging mirror equation using lens equation, and analyzes the effect of light spectrum wide and the limit for demodulation. It shows that this method has the performances of high precision, high sensitivity and good antiinterference. In the process of ranging, it is not necessary to require the detector plane on the imaging plane exactly.