Omnidirectional Distance Measurement based on Active Structured Light Image

Abstract

In this paper, we proposed an omnidirectional ranging system that is able to obtain <TEX>$360^{\circ}$</TEX> all directional distances effectively based on structured light image. The omnidirectional ranging system consists of laser structured light source and a catadioptric omnidirectional camera with a curved mirror. The proposed integro-differential structured light image processing algorithm makes the ranging system robust against environmental illumination condition. The omnidirectional ranging system is useful for map-building and self-localization of a mobile robot.