Distance Measurement Based on Structured Light Image for Mobile Robots

摘要

In this paper, we address an active ranging system based on laser structured light image for mobile robot application. Since the burdensome correspondence problem is avoidable, the structured light image processing has efficient computation in comparison with the conventional stereo image processing. By using a cylindrical lens in the laser generation, it is possible to convert a point laser into a stripe laser without motorized scan in the proposed system. In order to achieve robustness against environmental illumination noise, we propose an efficient integro-differential image processing algorithm. The proposed system has embedded image processing module and transmits distance data to reduce the computational burden in main control system.