Localizer with high occlusion immunity using diffraction optics

Details Localizer with high occlusion immunity using diffraction optics Localizer with high occlusion immunity using diffraction optics

Oct 2004

adsabs.harvard.edu/cgi-bin/nph-data_query?bibcode=2004spie.5578..428d&link_type=abstract

Photonics North 2004: Optical Components and Devices. Edited by Armitage, John C.; Fafard, Simon; Lessard, Roger A.; Lampropoul

Physics

Optics

Scientific paper

The chromatic method of diffraction range finding can be exploited to construct a 3D localizer that tracks the position of a pointer, a 3-D scanner or a robotic end-effecter. A spectrogram is made using a diffraction grating as the primary objective of an optical system that tracks a broad band emitter such as a tungsten filament or white L.E.D. Image processing on the resulting spectra transforms the spectrogram at the input to distance and displacement at the output. The behavior conforms to geometric optics following the Diffraction Equation. This novel technique has unique features. For example, the number of samples increases with target distance, reversing the loss of resolution as a function of distance that is endemic to triangulation. The plurality of samples also can overcome occlusion liability common to time-of-flight range finders, since multiple paths exist between emitter and sensor. The grating can be made from inexpensive embossed plastic, and a wave length sensor can be constructed from garden variety color cameras. The method is robust at a grazing exodus angles that allow for a compact configuration of the receiver. In this paper we disclose the theory of operation including a mathematical model, and we demonstrate the method empirically.

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