Abstract
Triangulation laser rangefinders using a laser sheet of light and a video camera are one of the most popular active optical vision systems for short range (indoor) autonomous robot applications. Conventional implementations of this system are based on digitising the video signal which is output from the camera, and processing the digitised images in order to obtain the points of incidence of the reflection of the laser sheet of light on the objects in front of the robot on the camera, from which the range information can be directly acquired. In this paper we propose a system is based on direct hardware detection of the pixels that receive maximum illumination (i.e. those corresponding to the intersection points between the laser beam and the objects in the scene). In this way, only the co-ordinates of these pixels are fed into the vision computer, and range information is obtained in a straightforward manner, without any need to digitise full images. Experimental results and performance tests of a vision system prototype based on this idea, are presented in the paper.
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