JSTS:Journal of Semiconductor Technology and Science

The Institute of Electronics and Information Engineers (대한전자공학회)
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A Real-time Compact Structured-light based Range Sensing System

  • Hong, Byung-Joo (Sungkyunkwan University - Department of Electronic and Electrical Engineering) ;
  • Park, Chan-Oh (Sungkyunkwan University - Department of Electronic and Electrical Engineering) ;
  • Seo, Nam-Seok (Sungkyunkwan University - Department of Electronic and Electrical Engineering) ;
  • Cho, Jun-Dong (Sungkyunkwan University - Department of Electronic and Electrical Engineering)
  • Received : 2011.09.01
  • Published : 2012.06.30
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Abstract

In this paper, we propose a new approach for compact range sensor system for real-time robot applications. Instead of using off-the-shelf camera and projector, we devise a compact system with a CMOS image-sensor and a DMD (Digital Micro-mirror Device) that yields smaller dimension ($168{\times}50{\times}60mm$) and lighter weight (500g). We also realize one chip hard-wired processing of projection of structured-light and computing the range by exploiting correspondences between CMOS images-ensor and DMD. This application-specific chip processing is implemented on an FPGA in real-time. Our range acquisition system performs 30 times faster than the same implementation in software. We also devise an efficient methodology to identify a proper light intensity to enhance the quality of range sensor and minimize the decoding error. Our experimental results show that the total-error is reduced by 16% compared to the average case.

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References

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