Efficient omni-directional ranging system for mobile robot using panoramic vision with structured light

Abstract

A ranging system for a mobile robot was designed to obtain relative distances to surrounding objects and to construct a local object map, so that the robot can orient its own position and design a course on the global map. An omni-directional ranging system using a panoramic vision with structured light was presented in this paper. Due to the adoption of the panoramic mirror and the laser structured light in the proposed system, it is possible to measure the distance for the 360° omni-directional object in a very efficient manner. The effectiveness of the proposed system was verified through experiments.