DocumentCode :
306174
Title :
An intelligent active range sensor for vehicle guidance: system overview
Author :
Pears, N.E.
Author_Institution :
Dept. of Eng., Cambridge Univ., UK
Volume :
1
fYear :
1996
fDate :
4-8 Nov 1996
Firstpage :
81
Abstract :
The mechatronic design and the two stage calibration procedure for an eyesafe laser rangefinder, based on the lateral-effect photodiode (LEP), are presented. The sensor acquires two-dimensional range data, and is active in the sense that it can change the orientation of its field of view in order to track useful range features. An analysis of LEP operation shows that image position measurement repeatability, normalised with respect to the detector half length, is equal to the signal current to noise current ratio. This result allows accurate estimation of the variance of individual range measurements, making the sensor particularly amenable to statistically based range feature detection. Range data acquisition, range feature extraction and control of the active head behaviour are all implemented on a local network of six transputers. This parallel structure is described and it is shown how the sensor constitutes an intelligent agent in a balanced sensor suite for the guidance of close range mobile robot manoeuvres
Keywords :
active vision; calibration; feature extraction; intelligent control; intelligent sensors; laser ranging; mobile robots; path planning; photodiodes; position measurement; robot vision; transputers; active head behaviour; balanced sensor suite; close range mobile robot manoeuvres; eyesafe laser rangefinder; image position measurement repeatability; intelligent active range sensor; intelligent agent; lateral-effect photodiode; local network; mechatronic design; range data acquisition; range feature extraction; statistically based range feature detection; two stage calibration procedure; two-dimensional range data; vehicle guidance; Calibration; Image analysis; Intelligent sensors; Intelligent vehicles; Mechatronics; Navigation; Optical design; Photodiodes; Sensor phenomena and characterization; Sensor systems;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems '96, IROS 96, Proceedings of the 1996 IEEE/RSJ International Conference on
Conference_Location :
Osaka
Print_ISBN :
0-7803-3213-X
Type :
conf
DOI :
10.1109/IROS.1996.570635
Filename :
570635
Link To Document :
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