论文信息 - A Wide-field Scanning Triangulation Rangefinder for Machine Vision

A Wide-field Scanning Triangulation Rangefinder for Machine Vision

This paper describes the design, construction, and measured performance of an experimental scanning laser rangefinder. The instrument uses active triangulation and employs an optical bandpass filter to minimize the effects of ambient illumination. Its use of a single photodetecting element, a photomultiplier, is a unique feature among scanning triangulation rangefinders. A novel scanning configuration based on spherical coordinates is employed, resulting in an extremely large field of view. Nearly 75% of the surrounding solid angle is accessible. Reasonably high speed and accuracy are obtained. The typical error in range at a range of 50 in. is .12 in. The typical error in either of the two angular coordinates is .03°. The maximum instantaneous rate of acquisition of range samples is 500 Hz. Much higher speed and accuracy appear achievable with various modifications and improvements. This type of rangefinder appears most useful in automatic surveillance and robot navigation applications, because of its large field of view.

Frank J. Pipitone | Thomas G. Marshall | F. Pipitone | T. Marshall

[1] Ramakant Nevatia,et al. Depth measurement by motion stereo , 1976 .

[2] A. Kiessling,et al. Methods For Analyzing Three Dimensional Scenes , 1975, IJCAI.

[3] Ann Patricia Fothergill,et al. Forming Models Of Plane-And-Cylinder Faceled Bodies From Light Stripes , 1975, IJCAI.

[4] A. R. Johnston,et al. A Scanning Laser Rangefinder for a Robotic Vechicle , 1977, IJCAI.

[5] Jr. Frank John Pipitone. A ranging camera and algorithms for 3-d object recognition , 1982 .

[6] Yoshiaki Shirai,et al. Recognition of polyhedrons with a range finder , 1971, IJCAI.

[7] A. E. Brain,et al. The measurement and use of registered reflectance and range data in scene analysis , 1977, Proceedings of the IEEE.

[8] Thomas O. Binford,et al. Computer Description of Curved Objects , 1973, IEEE Transactions on Computers.

[9] Yoram Yakimovsky,et al. A system for extracting three-dimensional measurements from a stereo pair of TV cameras , 1976 .

[10] Peter M. Will,et al. Grid Coding: A Preprocessing Technique for Robot and Machine Vision , 1971, IJCAI.

[11] Jean-Daniel Boissonnat,et al. A New Approach to the Problem of Acquiring Randomly Oriented Workpieces Out of a Bin , 1981, IJCAI.

[12] Richard O. Duda,et al. Use of Range and Reflectance Data to Find Planar Surface Regions , 1979, IEEE Transactions on Pattern Analysis and Machine Intelligence.