Return detection for outdoor active triangulation

Active triangulation is a well-established technique for collecting range data. Use of low-power systems in environments with high ambient light is motivated by considerations of price, portability and eye safety. However, when environment light is high, detection of laser return can be challenging. A method combining filtering of specialized low-level features with dynamic programming is proposed. Results are achieved in these challenging conditions comparable to results achieved with current techniques under ideal conditions.

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