Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Omnidirectional Distance Measurement based on Active Structured Light Image

능동 구조광 영상기반 전방향 거리측정

  • 신진 (서울산업대학교 전기공학과) ;
  • 이수영 (서울산업대학교 전기공학과) ;
  • 홍영진 (포항지능로봇연구소) ;
  • 서진호 (포항지능로봇연구소)
  • Received : 2010.04.16
  • Accepted : 2010.06.10
  • Published : 2010.08.01
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Abstract

In this paper, we proposed an omnidirectional ranging system that is able to obtain $360^{\circ}$ 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.

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References

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