Real Time Imaging Rangefinder For Autonomous Land Vehicles

J.Richard Kerr

doi:10.1117/12.949114

10 March 1989 Real Time Imaging Rangefinder For Autonomous Land Vehicles

J.Richard Kerr

Proceedings Volume 1007, Mobile Robots III; (1989) https://doi.org/10.1117/12.949114
Event: 1988 Cambridge Symposium on Advances in Intelligent Robotics Systems, 1988, Boston, MA, United States

Abstract

A three-dimensional sensor that achieves 50 microsteradian resolution over a 90 X 40 degree field of view (FOV) at full video frame rates has been designed for robotic vehicles. A combination of coarse and fine range resolution provides sensing from one to approximately 100 meters with short-range accuracies of less than 10 cm. The system utilizes an eyesafe diode laser configuration along with proprietary mechanical scanning elements, wide-field relay optics, and avalanche photodiode detectors. Range determination is accomplished with dual subcarrier modulation which results in the output of an unambiguous, binary word on a pixel-by-pixel basis. The approach also provides for electronic pitch stabilization.

Citation Download Citation

J.Richard Kerr "Real Time Imaging Rangefinder For Autonomous Land Vehicles", Proc. SPIE 1007, Mobile Robots III, (10 March 1989); https://doi.org/10.1117/12.949114

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