3D laser scanning vision system for autonomous robot navigation

摘要

The presented Technical Vision System realizes the principle of dynamic triangulation. This technique is able to resolve in real time a triple task: to detect a presence of significant obstacle in a robot's neighborhood; locate its position in a robot's field-of-view; obtain in a short time a digital map of the obstacle visible surface with metrological accuracy of coordinates and adjustable step of discretization. Some aspects of theoretical backgrounds, technical design, optical principle, mathematical framework, signal processing, prototype design and experimentation are presented in this paper.