Journal Title
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Publisher
Springer, Berlin, Heidelberg
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Authors: D A Carnegie J R K McClymont A P P Jongenelen B Drayton A A Dorrington A D Payne
Publish Date: 2011
Volume: , Issue: , Pages: 133-155
Abstract
Mobile robotic devices rely critically on extrospection sensors to determine the range to objects in the robot’s operating environment This provides the robot with the ability both to navigate safely around obstacles and to map its environment and hence facilitate path planning and navigation There is a requirement for a fullfield range imaging system that can determine the range to any obstacle in a camera lens’ field of view accurately and in realtime This paper details the development of a portable fullfield ranging system whose benchtop version has demonstrated submillimetre precision However this precision required nonrealtime acquisition rates and expensive hardware By iterative replacement of components a portable modular and inexpensive version of this fullfield ranger has been constructed capable of realtime operation with some userdefined tradeoff with precision
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