The design of a compact laser scanner for robot vision is presented. The design is based on synchronized scanners. It is shown that the Scheimpflug condition of focusing coupled with the low divergence of a laser beam provides an ideal arrangement for large depth of view. A geometrical analysis and a prototype description are presented.
"Design Of A Large Depth Of View Three-Dimensional Camera For Robot Vision," Optical Engineering 26(12), 261245 (1 December 1987). http://dx.doi.org/10.1117/12.7977163