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Optical Engineering

Compact robotics perception system based on a laser range finder coupled with silicon micromirrors
Author(s): Marc Lescure; Christian Ganibal; Roland Prajoux; Maurice Briot
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Paper Abstract

A compact perception system—originally developed for real-time acquisition of 3-D images for robotics applications—is presented. For distances up to 12 m, the resolution is about 2 cm at a rate of 5 images/s, with a field of view better than ∓20 deg. The setup is based on a specifically designed phase-shift laser range finder coupled with two micromachined silicon mirrors with a size of 4×4 mm. A sensor gives the Cartesian position of the laser spot. Data obtained from scanning are stored in numerical form in a 4096 10-bit words RAM. This design intends to provide a device with as many silicon components as possible, in view of achieving a very large integration in the near future. We describe the current device and analyze experimental results.

Paper Details

Date Published: 1 September 2003
PDF: 6 pages
Opt. Eng. 42(9) doi: 10.1117/1.1597676
Published in: Optical Engineering Volume 42, Issue 9
Show Author Affiliations
Marc Lescure, ENSEEIHT (France)
Christian Ganibal, Ctr. Nacional de la Recherche Scientifique (France)
Roland Prajoux, CNRS (France)
Maurice Briot, CNRS (France)

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