Near Field Ranging for Robotic Vision Applications

目前机器人视觉的研究主要集中在 二维模式的识别。 在许多应用中， 然而，深度感知能力是基本特征。 在 原理，深度感知可以从立体视觉推导出来，或者 全息重建，但算法需要， 解释这些信息是非常复杂的，需要 大量计算。 这项研究提出了一个发展 更简单的测距方法的基础上的观察， 衍射图样中由于一点而产生的峰的相对位置 通过光栅观察到的源被发现随着距离的移动 点光源和光栅之间的距离发生了变化。 这种现象有 在视觉频率下观察到，并且应该可扩展到 微波频率 使用毫米波，仪器应该 具有从大约1米到1000米的灵敏度范围。 拟议 研究人员将在光学和微波方面进行详细的实验 频率作为开发这种测距仪器的基础。

Current research in robotic vision is focused mainly on the recognition of two dimensional patterns. In many applications, however, depth perception capability is an essential feature. In principle, depth perception can be deduced from stereoscopic vision or from holographic reconstruction, but the algorithm required to interpret the information is extremely complicated and requires substantial computation. This research proposes the development of a much simpler method of ranging based on the observation that the relative position of the peaks of a diffraction pattern due to a point source observed through a grating are found to shift as the distance between the point source and grating is changed. This phenomena has been observed at visual frequencies and should be scalable to microwave frequencies. Using millimeter waves, an instrument should have a range of sensitivity from about 1 to 1000 meters. The proposed research sill carry out detailed experiments at optical and microwave frequencies as a basis for developing such a ranging instrument.