A VISI Smart Sensor For Fast Range Imaging

VLSI technology makes possible a powerful new sensing methodology--the smart sensor. In a smart sensor, transducers are integrated with processing circuitry so that desired information can be intelligently extracted at the point of sensing. Physical limitations force traditional systems to artificially partition sensing and processing functions. By eliminating such partitioning, VLSI smart sensing adds a new dimension to the design of both sensors and sensing algorithms. In this research, a high-performance VLSI range-image sensor has been built using the smart sensing methodology. This sensor measures range via light-stripe triangulation, a mature technology widely used in robotic systems. VLSI-based smart sensing made practical a cell-parallel implementation of the light-stripe method. Experiments with the cell-parallel sensor show that its performance is substantially better than that of traditional light-stripe systems. Range image acquisition time is decreased by two orders of magnitude. Furthermore, the range measurement process is qualitatively different, providing more robust and more accurate 3-D measurements. The success of the cell-parallel sensor can be attributed directly to the use of smart sensing and convincingly demonstrates the power of the technique. One of the most distinguishing features of this work is that it is not just a re-implementation of established algorithms using VLSI. Rather, this thesis demonstrates that intelligent data acquisition makes possible new approaches to sensing that can significantly improve sensor performance.