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Proceedings Paper

Real Time Imaging Rangefinder For Autonomous Land Vehicles
Author(s): J.Richard Kerr
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Paper Abstract

A three-dimensional sensor that achieves 50 microsteradian resolution over a 90 X 40 degree field of view (FOV) at full video frame rates has been designed for robotic vehicles. A combination of coarse and fine range resolution provides sensing from one to approximately 100 meters with short-range accuracies of less than 10 cm. The system utilizes an eyesafe diode laser configuration along with proprietary mechanical scanning elements, wide-field relay optics, and avalanche photodiode detectors. Range determination is accomplished with dual subcarrier modulation which results in the output of an unambiguous, binary word on a pixel-by-pixel basis. The approach also provides for electronic pitch stabilization.

Paper Details

Date Published: 10 March 1989
PDF: 8 pages
Proc. SPIE 1007, Mobile Robots III, (10 March 1989); doi: 10.1117/12.949114
Show Author Affiliations
J.Richard Kerr, FLIR Systems, Inc. (United States)


Published in SPIE Proceedings Vol. 1007:
Mobile Robots III
William J. Wolfe, Editor(s)

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