Image System with Ranging for Robot Vision

摘要

During the Phase I research, the concept of using multiple sources to construct an imaging system to give range to each pixel in the field of view was demonstrated. With a manilla envelope as a target, the non-scanning system gave a range of 10 feet with a range accuracy of greater than one-half a foot indoors when light emitting diodes having an output of 5 mW were used as the sources. When laser diodes having an output of 15 mW were used, the maximum range outdoors in bright sunlight was 42 feet with a range accuracy of 1 foot. When operation was outside but the target was shaded, the range was 42 feet with a range accuracy of half of a foot. Further research is expected to result in considerable improvement of the system.