In this paper, we propose an optical 3-D range-finder for a moving robot, an unmanned carrier,etc. This is based on a spatial-filtering using for an optical system such as an infrared seeker. In this system, some spatial-filters are arranged at equal intervals in an optical system's image-plane because of getting the azimuth's information of obstacles. We confirmed availability of the system through an experiment by using a CCD camera for digital-image processing.
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