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Proceedings Paper

A Structured Lighting Vision System For Dynamic Obstacle Avoidance With A Mobile Robot
Author(s): T. J. Essenmacher; V. G. Grafe; G. S. Davidson; M. M. Moya
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Paper Abstract

Sandia National Laboratories is using a mobile robot as the focus of a research effort in artificial intelligence and robotics. One of the sensors on board this robot is a structured lighting vision system for dynamic obstacle avoidance and position updating. A 10 MIPS transputer is used in the structured lighting system to collect and process the image data. Descriptions of the system, sensor hardware, and software algorithms are presented. System limitations are also discussed.

Paper Details

Date Published: 10 March 1989
PDF: 13 pages
Proc. SPIE 1007, Mobile Robots III, (10 March 1989); doi: 10.1117/12.949115
Show Author Affiliations
T. J. Essenmacher, Sandia National Laboratories (United States)
V. G. Grafe, Sandia National Laboratories (United States)
G. S. Davidson, Sandia National Laboratories (United States)
M. M. Moya, Sandia National Laboratories (United States)


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

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