1 September 1998 Range image acquisition for machine vision
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An optical 3-D imaging system for autonomous vehicle and mobile robot navigation is presented. The system is based on a phase comparison range finder using a 30-mW laser diode modulated at a 5-MHz frequency, and a scanning mechanism, consisting of a nodding mirror and an eight-faced polygon and providing 30 X 30-deg total view with only 0.5-deg instantaneous fields of view for the receiver optics. A Si-avalanche photodiode (APD) optoelectric detector and low-noise preamplifier can detect very low levels of returned energy. With an integrated MC4044 circuit for phase comparison, pixel range information can be represented by gray level on the high-resolution video monitor. A 3-D range image is obtained in the experiment, and a range accuracy of 0.08 m at 10 m outdoors in sunlight is achieved.
Dawei Tu, Dawei Tu, } "Range image acquisition for machine vision," Optical Engineering 37(9), (1 September 1998). https://doi.org/10.1117/1.601776 . Submission:

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