Abstract
In this paper, a ranging system is proposed that is able to measure distances to environment objects omnidirectionally, that is, over 360°. This ranging system is based on a structured-light imaging system with a catadioptric omnidirectional mirror. In order to make the ranging system robust against environmental illumination, efficient structured-light image processing algorithms have been developed: sequential integration of difference images with modulated structured light. A distance equation was derived for an omnidirectional imaging system with a hyperbolic mirror.
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