Active ranging system based on structured laser light image

Abstract

This paper presents an active ranging system based on laser structured-light image for mobile robot applications. The structured-light image processing is computationally efficient in comparison with the conventional stereo image processing, since the burdensome correspondence problem is avoided. In order to achieve robustness against environmental illumination noise, we propose an efficient image processing algorithm, i. e., integration of difference images with structured-light modulation. The proposed system has its own embedded image processing module and transmits final distance data to reduce the computational burden in main control system.