CO2laser radar 3D vision sensor for a mobile robot

O. Yamada, H. Takahashi, M. Kimura, H. Naitoh, R. Sano

Research output: Contribution to journalArticlepeer-review

3 Citations (Scopus)


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.

Original languageEnglish
Pages (from-to)251-260
Number of pages10
JournalAdvanced Robotics
Issue number3
Publication statusPublished - 1992 Jan 1
Externally publishedYes

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Human-Computer Interaction
  • Hardware and Architecture
  • Computer Science Applications


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