Construction of a fast and compact range image sensor that can be used in outdoor environments and its application to 3D modeling of environments

我们开发了一种快速，紧凑的距离图像传感器，捕获范围图像在200赫兹使用机器人视觉。该传感器由一个可投射多个聚光灯的激光投影仪和一个快速CCD相机组成。它甚至可以在阳光下使用。此外，我们增加了一个彩色CCD相机，并开发了一种方法来构建一个场景的三维地图，通过连接多个范围和彩色图像。我们还开发了一种传感器，它使用多个狭缝光的投影仪。

We developed a fast and compact range image sensor that captures range images at 200Hz for using robot vision. The sensor consists of a laser projector that projects multiple spotlights and a fast CCD camera. It can be used even under sun lights. Furthermore, we added a color CCD camera, and developed a method to construct a 3D map of a scene by connecting multiple range and color images. We also developed a sensor that uses a projector of multiple slit lights.