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Proceedings Paper

Laser Rangefinder For Robot Control And Inspection
Author(s): S. Parthasarathy; J. Birk; J. Dessimoz
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Paper Abstract

Three-dimensional surface point data is often useful for r000t control and inspection casks. Tne design of sensors for collecting this data involves many choices, with selections made on tne oasis of data rate, accuracy, field of view, safety, size, object properties, and the need for registered range and orightness data. A sensor has been designed with data rates of 30 kHz for orightness, 2 kHz for range in the scanning mode, and 250 Hz for range in tne random access mode. Range data accuracy is aoout .1A of tne field of view. The main components of the sensor are a low power laser (1 mW), a 1024 element COD linear array camera, a galvanometer scanner, and a special interface to a minicomputer. Alternative designs include stereo without using projected energy, white light projection, ultrasound, time-of-flignt measurements, multiple detectors, projecting planes versus oeams, two-dimensional array cameras and "position" sensors, and a variety of scanning mechanisms.

Paper Details

Date Published: 22 November 1982
PDF: 10 pages
Proc. SPIE 0336, Robot Vision, (22 November 1982); doi: 10.1117/12.933605
Show Author Affiliations
S. Parthasarathy, University of Rhode Island (United States)
J. Birk, University of Rhode Island (United States)
J. Dessimoz, University of Rhode Island (United States)

Published in SPIE Proceedings Vol. 0336:
Robot Vision
Azriel Rosenfeld, Editor(s)

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