Study on long-distance obstacle perception of the line structured light sensor

The detection method of line structured light is applied to perceive obstacles of Unmanned Ground Vehicle (UGV) in this paper. A novel line structured light sensor is proposed for remote obstacle perception. The mathematical model of the line structured light sensor is established to measure obstacles. The formula for calculating the relationship among laser power, environmental factors and detection distance is derived. The method of three-dimensional coordinate of space point in the camera coordinate system is presented. The obstacle recognition principles based on structured lights strip are summarized. An effective method is proposed for line structured light image. Through a lot of experiments, the line structured light sensor proposed in this paper can detect ground obstacles in a hundred meters with the high speed and accuracy.