TY - JOUR
T1 - CO2laser radar 3D vision sensor for a mobile robot
AU - Yamada, O.
AU - Takahashi, H.
AU - Kimura, M.
AU - Naitoh, H.
AU - Sano, R.
N1 - Funding Information:
We are grateful to K. Yoshida, R. Toyoda, and T. Kaneko for their support. This work was performed under the management of ARTRA (Advanced Robot Technology Research Association) as a part of the R&D of the Large-Scale Project of MITI sponsored by NEDO (New Energy and Industrial Technology Development Organization).
PY - 1992/1/1
Y1 - 1992/1/1
N2 - The laser radar proposed in this paper has good performance as a vision sensor for disaster prevention robots. Due to the good transparency of the CO2laser, the range information through simulated disaster conditions of smoke, flames, and mist is shown to have little degradation. In order to obtain three-dimensional (3D) information through disaster conditions, such as smoke, flames, and mist, a CO2laser is used as the light source. The method of range measurement is the detection of the phase shift between the irradiated light continuously modulated in intensity and the light reflected from the target. In the experiments of range measurement by modulation at several different frequencies, we achieved a range resolution of 3 cm for a modulation frequency of 40 MHz. Furthermore, we confirmed that the range accuracy is within ±25cm.
AB - The laser radar proposed in this paper has good performance as a vision sensor for disaster prevention robots. Due to the good transparency of the CO2laser, the range information through simulated disaster conditions of smoke, flames, and mist is shown to have little degradation. In order to obtain three-dimensional (3D) information through disaster conditions, such as smoke, flames, and mist, a CO2laser is used as the light source. The method of range measurement is the detection of the phase shift between the irradiated light continuously modulated in intensity and the light reflected from the target. In the experiments of range measurement by modulation at several different frequencies, we achieved a range resolution of 3 cm for a modulation frequency of 40 MHz. Furthermore, we confirmed that the range accuracy is within ±25cm.
UR - http://www.scopus.com/inward/record.url?scp=0027206861&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=0027206861&partnerID=8YFLogxK
U2 - 10.1163/156855393X00159
DO - 10.1163/156855393X00159
M3 - Article
AN - SCOPUS:0027206861
SN - 0169-1864
VL - 7
SP - 251
EP - 260
JO - Advanced Robotics
JF - Advanced Robotics
IS - 3
ER -