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Design and Construction of a Configurable Full-Field Range Imaging System for Mobile Robotic Applications

  • D. A. Carnegie
  • J. R. K. McClymont
  • A. P. P. Jongenelen
  • B. Drayton
  • A. A. Dorrington
  • A. D. Payne
Part of the Lecture Notes in Electrical Engineering book series (LNEE, volume 83)

Abstract

Mobile robotic devices rely critically on extrospection sensors to determine the range to objects in the robot’s operating environment. This provides the robot with the ability both to navigate safely around obstacles and to map its environment and hence facilitate path planning and navigation. There is a requirement for a full-field range imaging system that can determine the range to any obstacle in a camera lens’ field of view accurately and in real-time. This paper details the development of a portable full-field ranging system whose bench-top version has demonstrated sub-millimetre precision. However, this precision required non-real-time acquisition rates and expensive hardware. By iterative replacement of components, a portable, modular and inexpensive version of this full-field ranger has been constructed, capable of real-time operation with some (user-defined) trade-off with precision.

Keywords

Mobile Robot Image Sensor Image Intensifier Range Image Static Random Access Memory 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer-Verlag Berlin Heidelberg 2011

Authors and Affiliations

  • D. A. Carnegie
    • 1
  • J. R. K. McClymont
    • 1
  • A. P. P. Jongenelen
    • 1
  • B. Drayton
    • 1
  • A. A. Dorrington
    • 2
  • A. D. Payne
    • 2
  1. 1.School of Engineering and Computer ScienceVictoria University of WellingtonWellingtonNew Zealand
  2. 2.Department of EngineeringUniversity of WaikatoHamiltonNew Zealand

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