A 3-Dimensional Robotic Vision Sensor

Abstract

Abstract A video camera based vision system is very helpful for some robotic vision problems. But for real time object recognition and localisation requirements, video data cannot be treated fast enough to be feeded back into the control loop. In this work a new approach and a new related sensor is developed in order to acquire three dimensional position information about the external world of the robot. The developed sensor uses active triangulation technique and makes use of coherent monochromatic light. The sensor is very compact and may be integrated within the end effector of the robot. The device may deliver punctual three dimensional information of profile data, within a field of wiew of 40 degrees and a range of up to three meters.