Qualitative Real-time Range Extraction for Preplanned Scene Partitioning Using Laser Beam Coding
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Qualitative real-time range extraction for preplanned scene partitioning using laser beam coding.
Pattern Recognition Letters, 26(11):1772-1781, 2005
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Abstract
This paper proposes a novel technique to extract range using a phase-only filter for a laser beam. The workspace is partitioned according to M meaningful preplanned range segments, each representing a relevant range segment in the scene. The phase-only filter codes the laser beam into M different diffraction patterns, corresponding to the predetermined range of each segment. Once the scene is illuminated by the coded beam, each plane in it would irradiate in a pattern corresponding to its range from the light source. Thus, range can be extracted at acquisition time. This technique has proven to be very efficient for qualitative real-time range extraction, and is mostly appropriate to handle mobile robot applications where a scene could be partitioned into a set of meaningful ranges, such as obstacle detection and docking. The hardware consists of a laser beam, a lens, a filter, and a camera, implying a simple and cost-effective technique.
Keywords
Co-authors
Bibtex Entry
@article{SazbonZR05a,
title = {Qualitative real-time range extraction for preplanned scene partitioning using laser beam coding},
author = {Didi Sazbon and Zeev Zalevsky and Ehud Rivlin},
year = {2005},
month = {August},
journal = {Pattern Recognition Letters},
volume = {26},
number = {11},
pages = {1772-1781},
keywords = {Range estimation; Laser beam coding},
abstract = {This paper proposes a novel technique to extract range using a phase-only filter for a laser beam. The workspace is partitioned according to M meaningful preplanned range segments, each representing a relevant range segment in the scene. The phase-only filter codes the laser beam into M different diffraction patterns, corresponding to the predetermined range of each segment. Once the scene is illuminated by the coded beam, each plane in it would irradiate in a pattern corresponding to its range from the light source. Thus, range can be extracted at acquisition time. This technique has proven to be very efficient for qualitative real-time range extraction, and is mostly appropriate to handle mobile robot applications where a scene could be partitioned into a set of meaningful ranges, such as obstacle detection and docking. The hardware consists of a laser beam, a lens, a filter, and a camera, implying a simple and cost-effective technique.}
}