Abstract
We introduce an imaging-based passive on-axis technique for measuring the distance of individual objects in complex scenes. Two axially separated pupil positions acquire images (can be realized simultaneously or sequentially). Based on the difference in magnification for objects within the images, the distance to the objects can be inferred. The method avoids some of the disadvantages of passive triangulation sensors (e.g., correspondence, shadowing), is easy to implement and offers high lateral resolution. Due to the principle of operation it is especially suited for applications requiring only low to medium axial resolution. Theoretical findings, as well as follow-up experimental measurements, show obtainable resolutions in the range of few centimeters for distances of up to several meters.
Highlights
Most technical short range 3D sensors are currently based on triangulation
We introduce an imaging-based passive on-axis technique for measuring the distance of individual objects in complex scenes
Passive sensors as well as active triangulation sensors using a structured illumination of the scene are used [1,2,3,4]
Summary
Most technical short range (up to several meters) 3D sensors are currently based on triangulation. The sensor needs a certain lateral extent which is given by the triangulation base resulting in many cases in large and bulky devices [1] Suto et al (2020), described a related method using two cameras at different positions axially or with different imaging optics (focal length and pupil-size) might seem very similar to our principle approach. They always utilize at least two imaging optics (and sensors) with a certain lateral extent, which still can be accounted as a stereo vision method [13]. Our depth map can be created of the objects positional depths, which is by far more data efficient through sparse depth data and easier for processing (e.g. object avoidance, SLAM)
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