マルチスリット光を用いたカラーテクスチャ取得可能な小型距離画像センサの構築

抄録

In this paper, developing of a compact range image sensor capable of obtaining color texture is presented. The sensor is designed for installing on a mobile robot. By using this sensor, the robot can sense the target or obstacle using the range image date. The color texture mapping on the 3D range image can help sense small obstacles between slits. The sensor is based on a range image sensor using a multi-slit laser projector. By adding a color camera to obtain the color image, the sensor can output range image with color texture in real-time. The measurement range is 380-720mm, the number of measurement points is about 4600, and the processing speed is about 12fps. The effectiveness of the sensor is verified by experiment.