Title :
High speed range map obtaining in a triangulation range finder for mobile robots
Author :
Lamela, H. ; Gómez, S. ; Carpintero, G. ; Acedo, P. ; Hernández, L. ; Olias, E.
Author_Institution :
Area de Tecnologia Electron., Univ. Carlos III de Madrid, Spain
Abstract :
We present a new way to approach obtaining the range map in triangulation range finders. Among the advantages that it presents is that it avoids A/D conversion of the signal provided by the image sensor and posterior complex digital signal processing. The main idea is to use analog circuits to directly detect the pixel with maximum light intensity. Synchronization signals provided by the camera are used to locate the pixel coordinates, which are directly transformed into distance information. This new ranging system will be used in a mobile robot (RWI B21 model)
Keywords :
CCD image sensors; analogue processing circuits; distance measurement; mobile robots; robot vision; synchronisation; CCD camera; RWI B21 model; analog circuits; camera; distance information; maximum light intensity pixel detection; mobile robots; pixel coordinates location; range map; synchronization signals; triangulation range finder; Analog-digital conversion; Cameras; Charge coupled devices; Charge-coupled image sensors; Image converters; Image sensors; Mobile robots; Robot kinematics; Robot vision systems; Sensor arrays;
Conference_Titel :
Industrial Electronics, Control, and Instrumentation, 1996., Proceedings of the 1996 IEEE IECON 22nd International Conference on
Conference_Location :
Taipei
Print_ISBN :
0-7803-2775-6
DOI :
10.1109/IECON.1996.570625
