A High Speed Low-Cost 3D Ranging System

本工作的主要目标是研究高速、低成本、多模式的机器人和其他应用的3D测距系统的可行性和原型。Color-ranger系统提供了目前其他3D测距仪无法实现的功能。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。由于我们的Color-ranger系统中没有机械运动部件，因此机械设计可以非常简单可靠。该系统中的所有组件都是现成的，从而降低了成本。在开启主动光源的情况下，彩色相机可以提供3D范围数据，在关闭主动光源的情况下，同一台相机可以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问题。根据不同的应用，LVWF的光谱范围可以在400 ~ 750nm的可见光区域内选择。颜色护林员系统不是基于激光，因此没有眼睛安全问题。这当然是理想的广泛的医疗应用，避免碰撞的移动车辆，并为其他应用。

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.