Active Triangulation Rangefinder Design For Mobile Robots

Abstract

Desigii considerations arc presented for rarlgefiilders wliiclii ernploy active triaiigulatinri. Tlie geometric tradeoffs for coiiveritiorial triangulation gcoirietries are identified, aiid the way in wliicli tliesc can be iiiiiiirnised using a synchronized scaiiiiiiig approach is dcscribed. We compare the perfurlrialice of the cliargecoupled device (CCD) and lateral-effect pliotocliode (LEP) as active rangefinder iriiage seiisors mid discuss the benefits arid drawbacks of different optical !sniirces (lasers arid LEDs). We predict the pcrfnrinance of a large depth of field laser/LEP seiisor arid coinpare real results with theoretical prediction.