A High Speed Low-Cost 3D Ranging System

本文的主要目的是研究一种高速、低成本、多模式的三维测距系统的可行性，并为机器人等应用搭建一个原型。彩色测距仪系统提供的功能，没有其他目前可用的3D测距仪实现。该系统能够以相机的帧速率捕获全帧3D范围数据。因此，它适用于高速、实时的机器人应用。由于在我们的颜色测距系统中没有机械运动部件，因此机械设计可以非常简单和可靠。该系统中的所有组件都是现成的，这导致了低成本。当主动光源打开时，彩色相机可以提供3D范围数据，而当主动光源关闭时，同一相机提供正常强度的图像。这种多模式能力大大简化了多传感器集成和传感器数据融合的问题。根据应用，LVWF的色谱范围可以在可见光区从400至750 nm选择。Color-ranger系统不基于激光，因此不存在眼睛安全问题。这对于广泛的医疗应用、对于移动的车辆中的碰撞避免以及对于其它应用来说当然是期望的。

The primary objective of this proposed work is to study the feasibility and build a prototype of a high speed, low-cost, multi-mode 3D ranging system for robotics and other applications. The Color-ranger system provides capabilities that no other currently available 3D rangefinder achieves. This system is able to capture full frame 3D range data at the frame rate of the camera. Therefore, it is suitable for high speed, real-time robotics applications. Since there are no mechanical moving parts in our Color-ranger system, the mechanical design can be very simple and reliable. All components in this system are available off-the-shelf which leads to low cost. With the active light source turned on, the color camera can provide 3D range data, and with the active light source turned off, the same camera provides normal intensity images. This multi-mode capability greatly simplifies the problems of multiple sensor integration and sensor data fusion. Depending on the applications, the scope of the color spectrum of LVWF can be selected from 400 to 750 nm in visible light region. The Color-ranger system is not based on a laser therefore there are no eye safety problems. This is certainly desirable for wide range of medical applications, for collision avoidance in mobile vehicles, and for other applications.