Title :
Amplitude modulated optical range data analysis in mobile robotics
Author :
Adams, Martin D.
Author_Institution :
Swiss Fed. Inst. of Technol., Zurich, Switzerland
Abstract :
A time-of-flight range finder that greatly reduces the correspondence and disparity problems associated with stereo ranging techniques is considered. The author presents a model for an optical range finder that is capable of detecting untrustworthy range data which result when the optical beam is split between objects of differing range and/or surface reflectivity. A detection scheme for such untrustworthy data using real optical range data is demonstrated
Keywords :
amplitude modulation; laser ranging; mobile robots; amplitude modulated optical range data analysis; correspondence problem; disparity problems; mobile robotics; optical range finder; stereo ranging techniques; surface reflectivity; time-of-flight range finder; untrustworthy data; Amplitude modulation; Data analysis; Laser radar; Mobile robots; Optical beams; Optical modulation; Optical receivers; Optical sensors; Optical surface waves; Optical transmitters;
Conference_Titel :
Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on
Conference_Location :
Atlanta, GA
Print_ISBN :
0-8186-3450-2
DOI :
10.1109/ROBOT.1993.292116
