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Carnegie Mellon Robotics Institute

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Abstract

The paper presents a novel row-parallel architecture for a fast, high-resolution CMOS range sensor utilizing dynamic triangulation. The sensor detects the location of the structured light (e.g., laser line) in each row based on temporal signatures from the sensory signal thus eliminating influence of ambient illumination. The range map is detected at twice the resolution than the photodetector count and is sampled on a 30 x 30 um grid in the image plane. Our current prototype can operate up to 2000 frames per second, and deliver sub millimeter precision from a stand off distance of about 70 cm.

Keywords

computational sensors, 3D sensors

Notes

Text Reference

Vladimir Brajovic, "Fast Row-Parallel CMOS Range Image Sensor," IEEE International Conference on Robotics and Automation, April, 2004.

BibTeX Reference

@inproceedings{Brajovic_2004_4545,
   author = "Vladimir Brajovic",
   title = "Fast Row-Parallel CMOS Range Image Sensor",
   booktitle = "IEEE International Conference on Robotics and Automation",
   publisher = "IEEE",
   month = "April",
   year = "2004",
}

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